中文摘要：

阐述了基于耦合度分析的并联机构位置正解求解的原理，对6-SPS并联机构及其衍生机型进行拓扑结构分析，得到它们的耦合度K分别为0、1、2,3；给出了κ=0的机构位置正解的解析计算公式，以及κ≥1的机构位置正解求解的算法，即通过虚设κ个SPS型支链，使之转化为κ=0的虚拟并联机构，并基于杆长条件建立κ个仅含一个变量的相容性方程，再采用K维搜索法求出实数解，从而实现了6-SPS并联机构位置正解求解过程的计算机自动生成；最后给出3个算例，予以验证。

英文摘要：

Firstly, the principle of the parallel mechanism forward position analysis based on the coupling degree is described. Based on the topology and analysis for 6-SPS parallel mechanisms their degree of coupling K is got, which are 0,1,2,3 respectively. An analytical formula for the positive solution of the mechanism with κ = 0 and the algorithmic for the positive solution of the mechanism with K ≥ 1 are given. That is, for mechanisms with κ≥ 1, they are transformed into mechanisms with κ= 0 by virtually setting K SPS chains, then K geometric compatibility equations are established based on the condition of link length, each of which contains only one variable. Then, κ-dimensional search method is used to obtain all real forward solutions, the automatic generation of which can be realized. Finally, three examples are given to demonstrate the algorithm.