A super-redundantly actuated parallel manipulator 6RPS with three degrees of freedom,which is two rotational degrees and one translational degree,is proposed.The analysis of freedom is operated based on screw theory.Kinematic model is established and verified by simulation example.Motion/force transfer performance is analyzed in combination with local and global indicators.The transfer performance is optimized based on performance map and structural parameters of dimensionless.Optimal structural parameters and transfer performance distribution of the manipulator 6RPS are obtained.Full pose space of high-quality at the optimal structural parameters is studied.Motion singularity of the mechanism is analyzed based on Jacobian matrix and transfer performance.The research results provide a certain theoretical basis for the research and the application of parallel mechanism with two rotational degrees and one translational degree of freedom.
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