| With the advantages of high speed, accuracy and stiffness, good dynamic performance, low cost and compact structure, 3-DOF translational parallel robot has a good prospect of application. Particularly, which characterizes identical limbs, symmetrical arrangement and isotropy, has great potentials in practical application. Parameters optimization for the 3-RCR parallel mechanism has mainly been deeply researched in this dissertation.Firstly, the constraint features, position formulations, singularities and workspace of 3-RCR parallel mechanism were analyzed roundly, which has provided certain theory basis for the following parameters optimization.Secondly, the influences of the workspace and the movement performance were analyzed when the structural parameters had been changed. The workspace, the dexterity as well as the synthesis of them were respectively taken as the optimized goal, and the structural parameters were optimized by use of GAOT (Genetic Algorithm Optimization Toolbox) in MATLAB software. Feasibility of the optimized result has been confirmed by the contrastive analysis of the data and the atlas around the optimization, which has provided the reasonable basis for the physical prototype's design.Thirdly, the application of 3-RCR parallel mechanism on plane engraving machine was discussed meaningfully, and the virtual prototype was designed by CAD software, which the feasibility of this application was proved to be reasonable by simulated engraving Chinese characters.Through above analysis and studies, we have had a clear and deeply knowledge about the structural and kinematics properties of the 3-RCR parallel mechanism. The structural parameters were optimized based on workspace and dexterity, so that the structural parameters which made the institutional performances get better were obtained, and all of this have made a good foundation for the manufacture and control ways of real prototype of 3-RCR parallel mechanism.
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