提出了一种基于型数综合的六自由度并联机构系统构型新方法。

A new systematic configuration method for designing 6-dof parallel mechanism based on type number synthesis is presented.

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空间少自由度并联机器人机构和传统的六自由度并联机构相比，具有结构简单，设计、制造和控制的成本都相对较低的特点。

Compared with the general 6-dof (degrees of freedom) parallel mechanism, lower-mobility parallel mechanisms have advantages of simple structure, low cost in design, manufacturing and control.

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因此，本文重点针对基于并联机构的船舶六自由度运动模拟台的一些关键技术以及控制方法等进行了深入的研究。

Therefore, this dissertation researched the ship 6-dof motion simulation platform which has a parallel structure, and made deeply research on some key technology problems and the control method.

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