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运用多体系统理论研究了６－ＳＰＳ型Ｓｔｅｗａｒｔ机床机构和丰田型Ｓｔｅｗａｒｔ机床机构的运动学，建立了相应的零级（位姿）和一级（速度和角速度）运动学方程，获得了两种Ｓｔｅｗａｒｔ机床机构的雅可比矩阵。运用多体系统通用分析软件对Ｓｔｅｗａｒｔ机床的运动进行了仿真计算，为后续研究等奠定良好基础。
Kinematics of 6-SPS type Stewart machine tool and Toyota type Stewart machine tool mechanism are studied by using multi-body system theory. Corresponding zero order (pose) and first-order (velocity and angular velocity) kinematics equations are obtained, Jacobian matrix of Stewart machine tools. The multi-body system general analysis software was used to simulate the motion of Stewart machine tool, which laid a good foundation for subsequent research.