给出了摇摆试验台的重心和转动惯量的调整方法。

Moreover, the adjusting methods that include center of gravity and moment of inertia of rolling test platform are given.

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其次，对六自由度摇摆试验台的运动学及动力学问题进行了分析。

Second, the dynamic and kinematic characteristics of the Stewart platform are analyzed.

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本文主要对六自由度摇摆试验台的系统设计、运动学理论、位姿误差及控制方法四方面进行分析和研究。

The major research works completed in this dissertation includes: six free-degree swing platform system design, kinematics theory, pose error analysis and control methods.

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