目的 针对生产线码垛作业货物搬运需求，设计一种3T1R码垛并联机器人机构。方法 利用方位特征方程分析机器人机构的自由度、耦合度、方位特征集等拓扑结构特性。根据运动副的构型建立运动学逆解模型，考虑到码垛机器人运动范围的精度需求，采用一种新型的数值搜索法实现并联机构工作空间的快速高效搜索，同时，分析结构参数对工作空间体积的影响，选择鲸鱼优化算法对结构参数进行最优化设计。结果 分析得到的机构工作空间较大且连续性较好，新型的数值搜索法可快速有效地搜索，得到准确的工作空间边界。结论 优化后的并联机构具有良好的工作空间和较好的应用前景。

The work aims to design a 3T1R parallel robot mechanism to meet the cargo handling requirements of palletizing operation in production line. The topological structure characteristics of the robot mechanism, such as degree of freedom, coupling degree and orientation feature set, were analyzed by the position and orientation characteristics equation. According to the configuration of the kinematic pair, the inverse kinematics model was established. Considering the accuracy requirement of the motion range of the palletizing robot, a novel numerical search method was adopted to realize the fast and efficient search of the workspace of the parallel mechanism. At the same time, the influence of the structural parameters on the workspace volume was analyzed, and the whale optimization algorithm was selected to optimize the structural parameters.The workspace obtained through the analysis was large and continuous. The novel numerical search method could quickly and effectively search the exact workspace boundary. The optimized parallel mechanism has good workspace and promising application prospect.