本文提出了一种基于运动学综合性能指标的机构尺寸和拓扑结构的优化方法。基于雅可比矩阵奇异值,建立了全域空间条件数均值与全域空间条件数波动值的综合灵巧度指标,对远心点调整机构的进行了尺度优化。基于对关节结构的有限元分析,优化其拓扑结构,实现了机械臂的轻量化设计。优化结果显示:在机械臂末端的工作空间满足手操作的需求的前提下,综合灵巧度指标提高了14.8%,被动关节质量减少了21.9%,其余多项指标也都有所提高。优化结果很好地满足了微创手术对机械臂灵活性及轻量化的要求。 In this paper, an optimization method of mechanism size and topology based on kinematic comprehensive performance index is proposed. Based on the Jacobian matrix singular value, the comprehensive dexterity index of the global spatial condition number and the global spatial condition number fluctuation value is established, and the scale optimization of the telecentric point adjustment mechanism is established. Based on the finite element analysis of the joint structure, the topological structure is optimized, and the lightweight design of the manipulator is realized. The optimization results show that the comprehensive dexterity index increased by 14.8% and the passive joint mass decreased by 21.9% while the working space at the end of the manipulator meets the needs of hand operation. The rest of the indexes also increased. The optimized results meet the requirements of minimally invasive surgery on the flexibility and weight of the arm.