由于技术进步，各空间机构广泛的合作以及商用空间领域的开展，使空间任务变得复杂多样。
The advance of the modern technology, the broad collaboration of space agencies and the development of commercial space area make space missions diversity.
随着起重机大车、小车及起升机构的加速和减速，由钢丝绳连接的吊重的运动状态表现为一个复杂的空间运动。
The spreader is linked to the crane through the rope, and its motion state is changed complicated in three-dimension with the accelerating and decelerating of trolley, hoist and gantry.
本文采用瞬时结构假定方法，建立了具有复杂空间并联机构的TPM手控器计算模型。
Based on the instantaneous structure manipulator assumption, the TPM master manipulator calculating model with complex parallel structure is presented.
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