针对并联机器人在设计过程中的约束变量多、干涉情况复杂和设计周期长等问题,进行电动六自由度并联机器人结构参数设计与仿真的研究.以Stewart并联机器人为例,对并联机器人工作空间的两种求解方法进行了分析.首先利用几何法求解出其工作空间,然后提出一种基于虚拟样机技术求解其工作空间与承载能力的方法.这种方法利用Pro/E软件进行三维设计,将三维造型导入Adams软件中进行动态仿真.仿真结果表明,该方法在保证仿真结果可靠性的前提下,可避免烦琐的计算,缩短设计周期. In order to solve the problem of parallel manipulators with many constraints, complicated interference conditions and long design cycle, the design and simulation of structural parameters of an electric six-freedom parallel manipulator are studied. Taking a Stewart parallel manipulator as an example, Two methods of solving are analyzed.Firstly, the working space is solved by geometric method, and then a method of solving the working space and carrying capacity based on virtual prototyping technology is proposed.This method uses Pro / E software to design three-dimensional, The model is imported into Adams software for dynamic simulation.The simulation results show that this method can avoid cumbersome calculation and shorten the design cycle under the premise of ensuring the reliability of simulation results.