Addressing the issues of small orientation workspace and easy singularity in the multi-slider common rail 6-PSS parallel mechanism,a three-rail distributed 6-PSS parallel mechanism(P:prismatic joint,S:spherical joint)was proposed.The uneven arrangement of link lengths and rail spacing was adopted to enhance the orientation workspace.Closed-loop vector method was used for position analysis,and the limit boundary search method was used to solve the workspace.The mechanism performance was evaluated based on motion/force transmission indices,and the performance graph was used to optimize the mechanism size based on the global index GTI.The results show that the motion/force transmission performance of the optimized mechanism is significantly improved,and the orientation workspace is also improved.This mechanism has certain practical application in engineering.
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