并联构型装备正处于商品化、产业化的关键时期。文章从结构、应用领域、驱动方式、控制等方面阐述了并联构型装备的研究进展，介绍了国际上的一些主要研究计划，分析了产业化进程中的若干关键技术及其可能的解决方案。

Parallel kinematic machines are in the process of industrialization. In this paper, research and development of parallel kinematic machines is investigated from various aspects including machine structures, application fields, drive principles and controllers. Some important research projects are introduced. Several key techniques and possible development directions are put forward.