随着现代生产生活方式的快速发展，电子、食品、医药、日化和新能源等行业对生产线物品的高速无污染作业需求日益旺盛。高速并联机器人有望成为此类作业中保障质量、提高效率和降低成本的核心装备，具有重要的研究价值。本文以高速并联机器人为研究对象，根据典型应用需求系统性地开展高速并联机器人的构型设计、双动平台型高速并联机器人的运动和力传递特性、闭环支链型高速并联机器人运动和力交互特性、高速并联机器人尺度优化设计和构型优选等方面的理论研究工作。主要内容如下：分析发现闭环支链和双动平台方案因其性能优势已然成为高速并联机器人的优势特征，提出了平台间耦合策略和支链间耦合策略，建立了基于耦合策略的线几何图谱化高速并联机器人构型综合方法，创新设计出若干双动平台型和闭环支链型高速并联机器人构型。结合典型应用需求，从所设计的高速并联机器人构型中发掘出三类分别具备高速高加速、高速高精度和高速高负载潜质的机器人原理新构型。提出双动平台型高速并联机器人的等效传递力概念，建立了副平台的自由度特性约束方程用以消除副平台在机器人运动和力传递过程中的影响，获得机器人等效运动和力传递模型，进而定义了修正的输出传递指标。考虑机器人动平台间存在相对运动，定义了中间传递指标来评价动平台内部的运动和力传递特性。进而建立起双动平台型高速并联机器人运动和力传递特性指标体系，为此类机器人的性能分析和尺度优化奠定了理论基础。提出“锁定-驱动”策略探索并联机器人在近架端和远架端的运动和力学行为，定义了近端交互指标和远端交互指标来评价并联机器人支链内力对输入运动的传递能力和对动平台承载能力的影响。针对冗余驱动和过约束并联机器人，定义了近端交互指标和最小化远端交互指标。进而建立起闭环支链型高速并联机器人运动和力交互特性指标体系和评价方法，为此类机器人的性能分析和构型优选提供了理论依据。基于上述理论工作，实现了机器人的尺度优化和构型优选，指导研发了三类高速并联机器人。第三方测试表明：研发的TH-SR4并联机器人、TH-HR4并联机器人和TH-UR2并联机器人分别具备高速高加速、高速高精度和高速高负载品质。经推广应用，三类机器人均运行可靠且满足企业生产需求。

With the rapid development of modern production and lifestyle changing, the demand for high-speed pollution-free operation of products on the production lines in the industries of electronics, food, medicine, daily chemicals and new energy is greatly increasing. High-speed parallel robots expected to become the core equipment to guarantee the product quality, improve productivity, and reduce cost in the above operation are researched. Taking the high-speed parallel robot as the research object and considering the typical application requirements, this thesis focuses on the research of the mechanism design of the high-speed parallel robot, motion/force transmission performance of high-speed parallel robots with articulated platforms, motion-force interaction performance of parallel robots with closed-loop subchains, dimension synthesis and mechanism selection, etc. The main works and results are as follows:According to the analysis of the structures of high-speed parallel robots, the design schemes with closed-loop subchains and articulated platforms have become the dominant characteristics of the high-speed parallel robot because of their performance advantages. The coupling strategy between mobile platforms and the coupling strategy between kinematic chains are presented. Then, a graphical type synthesis method of high-speed parallel mechanism is proposed based on line geometry and atlases of degrees of freedom and constraints. Several high-speed parallel robots with articulated platforms and closed-loop subchains are designed innovatively. Combined with the typical requirements of engineering applications, three types of parallel robots respectively with high-speed and high-acceleration potential, high-speed and high-precision potential, and high-speed and high-load potential are discovered.The concept of equivalent transmission wrench screw of the high-speed parallel robot with articulated platforms is proposed. Then, a constraint equation of degree-of-freedom characteristic of sub-platform is established, which can eliminate the influence of the sub-platform during the process of motion/force transmission. Furthermore, the equivalent motion/force transmission model of the robot is obtained, and the modified output transmission index is defined. What’s more, by putting an insight into the instantaneous relative motion inside the mobile platform, a medial transmission index is proposed to evaluate its internal motion/force transmissibility. Based on these foundations, the local transmission index is defined as the minimum value of the input, modified output, and medial transmission indices. Finally, the index system of motion/force transmission performance evaluation of the high-speed parallel robot with articulated platforms is established, which provides a theoretical basis for performance analysis and dimension synthesis of this kind of parallel robots.A new blocking-and-actuating strategy is proposed to investigate the motion and force behavior at the distal part and the proximal part of parallel robots. By using this strategy, the distal wrenches and proximal wrenches are identified inside the closed-loop subchains. The proximal interaction index and the distal interaction index are defined to evaluate the influence of the internal wrench of subchains on the motion-transmission capacity and load-carrying capacity of the parallel robot respectively. As for redundantly actuated and overconstrained parallel robots with closed-loop subchains, proximal interaction index and the minimized distal interaction index are defined. To evaluate the comprehensive performance of the parallel robot at a certain pose, a local interaction index is defined as the minimum value of indices of the distal and proximal interaction performance. Finally, the index system of motion-force interaction performance evaluation of the high-speed parallel robot with closed-loop subchains is established, which provides a theoretical basis for performance analysis and mechanism selection of this kind of parallel robots.Based on the above theoretical work, the dimension synthesis of TH-SR4 and TH-HR4 high-speed parallel robots with articulated platforms and the mechanism selection of TH-UR2 high-speed parallel robot with closed-loop subchains are carried out, and the prototypes of three types of parallel robots are developed. According to the performance tests, the developed TH-SR4 parallel robot, TH-HR4 parallel robot and TH-UR2 parallel robot can achieve high-speed and high-acceleration performance, high-speed and high-precision performance, and high-speed and high-load performance, respectively. Applications indicate that all three types of high-speed parallel robots can run reliably and meet the production requirements.