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基于一般ＳＴＥＷＡＲＴ机构研制的并联机器人机床是新一代智能化金属切削加工机床．然而，机床的运动学位置正、逆解呈强非线性，求解困难．出于机床精度的需要，本研究的模型样机在结构上采用了滚珠丝杠传动，因此又带来了关节运动耦合，导致机床运动学位置正、逆解求解更加复杂．利用运动学等效的原则，引入整机等效串联机构及分支等效串联机构，以等效广义坐标为中间变量建立机床运动学正、逆解求解迭代算法．仿真与控制实验表明，该算法具有收索速度快便于实际应用等特点．
Based on the general STEWART body developed parallel robot machine is a new generation of intelligent metal cutting machine tools. However, the kinematic position of the machine tool is positive and the inverse solution is strongly nonlinear and difficult to solve. Due to the need of machine precision, the model prototype of this study adopts the structure of ball screw drive, and thus brings about the coupling of joint motion, which leads to the machine tool kinematics position being positive and the inverse solution more complicated. Based on the principle of kinematical equivalence, equivalent series mechanism and branch equivalent series mechanism of whole machine are introduced, and an iterative algorithm for machine kinematics positive and inverse solution is established by taking the equivalent generalized coordinate as the intermediate variable. Simulation and control experiments show that the algorithm has the characteristics of quick retrieval speed and practical application.