Inverse displacement analysis model and inverse kinematic analysis model are derived, scheme of CNC system for PMT is designed.
推导了并联机床位置、速度逆解模型，设计了面向该并联机床的CNC系统方案。
A new parallel mechanism 6-CCS which is composed of cylinder and spherical joints is described in this paper. Configurable analysis and inverse kinematic equations are given.
介绍了一种由圆柱副、圆柱副和球面副组成的点、线约束的新型并联机构6-CCS，对其进行了结构分析，给出了运动学逆解方程。
The inverse and direct kinematics, force analysis was presented and the kinematic workspace was discussed.
对该机构进行了位置正解、反解分析和力学分析，并讨论了运动学工作空间。
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