In order to solve the problem that the workspace of parallel mechanisms with offset hinges is dif-ficult to evaluate and design intuitively,A sensitivity analysis of its workspace based on configuration pa-rameters and a workspace optimisation method is proposed. First,taking the 6-RRRPRR configuration paral-lel mechanism as a research object,the inverse kinematics of the mechanism and the Jacobi matrix are de-rived. Then,the effective workspace of the mechanism is established based on the numerical method,the ef-fective workspace of the position was obtained for the problem of irregularity of its workspace. On this ba-sis,a parametric sensitivity analysis of the workspace of the mechanism was carried out. Finally,a work-space optimisation method is proposed with engineering examples. It is easy to find a combination of con-figuration parameters that meets the movement requirements of the mechanism according to the design con-ditions,which is convenient for engineering applications.
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