[1] [1] CLAVEL R. Device for the movement and positioning of an element in space: USA, US 4976582［P］. 1990.

[2] [2] CLAVEL R. Delta, a fast robot with papallel geometry ［C］. Proceedings of the 18th International Symposium on Industrial Robot. 1988: 91-100.

[3] [3] TSAI L W. Multi-degree-of-freedom mechanism for machine tools and the like: US, 5656905［P］. 1997-08-12.

[4] [4] TSAI L W, WALSH G C, STAMPER R E. Kinematics of a novel three DOF translational platform［C］.IEEE International Conference on Robotics and Automation. Minneapolis, Minnesota: IEEE ( Robotics & Automation Society )Staff, 1996: 3446-3451.

[5] [5] TSAI L W, JOSHI S. Kinematic analysis of 3-DOF position mechanisms for use in hybrid kinematic machines ［J］.Journal of Mechanical Design, 2002, 124: 245-253.

[6] [6] WANG T J, LIU Q K, HAO CH ZH. Workspace analysis for a six dofs parallel manipulator［J］. Journal of Shenyang Institute of technology, 1999, 18(3): 21-25. (in Chinese)

[7] [7] GAO X L, LU K J,WANG J P. Workspace resolution and dimensional synthesis on delta parallel mechanism ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2008, 39(5): 146-149. (in Chinese)

[8] [8] LIANG X N. Kinemeatic Search and Simulation of Delta Robot［D］. Shanxi: University of Taiyuan for Science and Technology, 2008. (in Chinese)

[9] [9] WANG X, HAN Y F, LIN Y Q, et al.. Workspace analysis of a laser cutting machine tool based on delta parallel structure ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2007,38(1): 154-157. (in Chinese)

[10] [10] CHENG G, GE SH R, JIANG SH L. Research on transient kinematic characteristics of 3-UCR parallel robot ［J］. Opt. Precision Eng., 2008,16(1): 108-113.

[11] [11] ZHAO J, ZHU Y H, CAI H G. Geometric solution for direct kinematics of Delta parallel robot［J］. Journal of Harbin Institute of Technology, 2003, 35(1): 25-27. (in Chinese)

[12] [12] LIU Y J, ZHANG J, LI B L. Parameter optimization of the 3-RRS paralled robot based on the condition index［J］. Machine Design and Research, 2008,06: 32-34.

[13] [13] GOSSELIN C, ANGELES J. A global performance index for the kinematic optimization of robotic manipulators［J］. Transaction of the ASME, Journal of Mechanical Design, 1991,113(3): 220-226.

[14] [14] ZHANG Y B, WANG H P, WU X. Structure synthesis of fully-isotropic 3-DoF planar parallel manipulators ［J］. Opt. Precision Eng., 2012,20(3): 579-586.

[15] [15] SHI ZH X, LUO Y F, CHEN H L, et al.. On global performance indices of robotic mechanisms［J］. Robot, 2005, 27(5): 420-422. (in Chinese)