【正文】 本系統(tǒng)的所有設(shè)計遵循國際上現(xiàn)行的標準進行，以提高系統(tǒng)的開放性。 (4)先進性：本設(shè)計將充分應用現(xiàn)有成熟的計算機技術(shù)、計算機測試技術(shù)、軟件開發(fā)技術(shù)。 現(xiàn)在六自由度轉(zhuǎn)臺則主要應用于運動仿真領(lǐng)域，其中以飛行模擬器最多，其 他快艇駕駛訓練模擬器、汽車駕駛訓練模擬器也正日益廣泛應用。因此對六自由度的關(guān)鍵組成部分進行深入的理論分析和實驗研究，盡快研制出性能優(yōu)良的六自由度轉(zhuǎn)臺，提高我國的仿真技術(shù)水平，具有重大的理論意義和實際應用價值。就目前來看，我們應從生產(chǎn)和應用的角度出發(fā)，結(jié)合我國國情，加快生產(chǎn)結(jié)構(gòu)簡單、成本低廉的實用型機器人和某些特種機器人。六自由度并聯(lián)機器人是由上、下兩個平臺組成，下平臺為定平臺，上平臺是動平臺，機器人手臂位于上平臺中心點位 置，機器人中間是液壓伺服閥控制六個液壓缸的伸長與縮短。 關(guān)鍵詞 并聯(lián)機器人；運動學仿真；位置算法；控制算法 Abstract With society is developing, and the technique of the robots have been developing and excellent. Since 1954, it has passed 53 years from the day which the first robot produced. The robot has already not the same as before which only can finished easy action. It can assume hardly task which is strength work, strong risk, and high technique. 6DOF parallel connection robot is a member from the 1990s in robot family. 6DOF parallel connection robot is made up by two flat roofs, one is on the top and the other is underside. The underside roof is stable roof and the top one is moving roof. The arms of the robot locate in the centre point of the top flat roof. The middle of the robot is the hydraulic pressure servo valve which controls the elongation and the shortening of 6 hydraulic pressure crocks. Its advantage is opposite to mon parallel connection robot, which sturdy and control easily. With passing the time, the robot’s technique have been developing and consummate, the 6 DOF parallel connection robot have withdraw from the history step, but it active