A novel 6-PRRS parallel robot is introduced, the robot can move quickly and stably without inner relative motion by analyzing and judging its Jacobian matrix.

• 摘要提出一种新型并联机器人，通过分析并判断其雅可比矩阵，证明该机构可以进行无内部相对运动的整体快速、稳定运动。