目的 针对狭窄空间范围内产品质量或性能参数不易检测的情况，设计一种新型3-PPR并联机构检测机器人，减小机器人的横向尺寸，从而提高检测工作的可实施性。方法 通过运用螺旋理论和修正的Grübler-Kutzbach公式计算该机构的自由度，使用闭环解析法建立该机构的正、逆运动学方程并求解，利用MATLAB软件和蒙特卡洛法求得工作空间。结果 该机器人驱动关节与末端执行器的姿态关系明确，工作空间呈圆筒形且结构紧凑，满足检测精度需求。结论 该三自由度并联机器人适合在狭小空间内执行检测任务，运动平稳且具有较高的可靠性，为农产品储运中的智能化检测提供一种新方法。

Specific to the difficult detection of product quality or performance parameters in confined spaces, the work aims to design a new 3-PPR parallel-mechanism detecting robot to reduce the horizontal size of the robot and improve the implementation of the detection work. The degree of freedom of the mechanism was calculated by spiral theory and modified Grübler-Kutzbach formula. The forward and inverse kinematics equations of the mechanism were established and solved by closed-loop analytic method. The working space was obtained by MATLAB software and Monte Carlo method. The attitude relationship between the driving joint and the end effector was clear, and the working space was cylindrical and compact, which could meet the requirement of detection accuracy. The three-degree of freedom parallel robot is suitable for carrying out inspection tasks in confined spaces, with stable movement and high reliability, providing a new method for intelligent detection of agricultural products in storage and transportation.