求解并联机构的运动空间，包括机构在不同位子是的运动空间大小和范围。-The volume of the whole workspace was selected as an evaluation index for the workplace. And the responding optical structure parameters were derived. In order to obtain the motion range of dexterous position/orientation workspace in the entire workspace, homogeneous velocity Jacobian matrix of the manipulator was established based on the three point velocity method on moving platform. The dexterous orientation workspace areas of the manipulator were derived by comparing the condition number in different workspace areas.