To solve the problems of relatively limited workspace and relatively weak ability to avoid singular configurations of parallel orthopedic robots in minimally invasive fracture reduction surgery,a new kinematic redundant parallel mechanism is proposed based on Gough-Stewart parallel mechanism(GSPM).The structure of the proposed parallel mechanism is introduced,its kinematics and dynamics are established,and its workspace is simulated.The dexterity and singularity of the GSPM and the proposed parallel mechanism are analyzed based on the dimensionally homogeneous Jacobian matrix.The multi-objective optimization method is used to optimize the geometric parameters of the proposed parallel mechanism.Experiments are conducted on the 3D printing prototype.It is shown that,compared with the GSPM,the workspace volume of the proposed parallel mechanism is expanded by 273.5％,and its dexterity is better,which verifies the effectiveness of the simulation and analysis methods.
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