建立了宏动平台实验样机控制系统，进行了轨迹跟踪控制实验。
The control system of macro manipulator prototype has been manufactured. The tracking control experiments are tested.
对这种宏动平台的位置与工作空间问题进行了分析，绘制了位置和姿态工作空间轮廓图，定量分析了各主要结构参数对工作空间大小的影响。
The position and workspace are analyzed, and the outlines drawing of position and orientation workspace are plotted. The effects of main structure parameters to the volume of workspace are studied.
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