针对传统拉形机在成形双曲率蒙皮零件时,易产生不贴模、拉裂或起皱等缺陷,基于并联机构拓扑结构理论设计了一种并联多夹钳柔性拉形机。首先,介绍了并联多夹钳柔性拉形机及其辅助装置的结构,对拉形机并联支撑机构进行结构设计与自由度计算;其次,运用ADAMS软件对并联支撑机构进行运动学仿真,对拉形机的并联输出板的位移变化与速率变化曲线进行分析,验证了并联多夹钳柔性拉形机并联支撑机构的稳定性;最终,通过有限元法分析拉形件在不同拉力下的应变云图,验证了并联拉形机拉形方式的合理性。 Aiming at the defects that the traditional drawing machine is used to form the double curvature skin parts, it is easy to produce defects such as not to die, crack or wrinkle. Based on the topological structure theory of the parallel mechanism, a parallel multi-clamp flexible stretching machine is designed. First of all, the structure of multi-gripper flexible pulling machine and its auxiliary device is introduced, and the structure design and degree of freedom of the parallel supporting mechanism of the drawing machine are introduced. Secondly, the ADAMS software is used to simulate the parallel supporting mechanism, The parallel displacement and velocity curve of parallel machine output were analyzed to verify the stability of the parallel support mechanism with parallel clamp multi-gripper. Finally, the strain curve of pull part under different tension was analyzed by finite element method , Verified the rationality of the drawing mode of the parallel drawing machine.