中文摘要：

为了提高控制系统的可重构性、可维护性，在对6-PUS/UPU并联机构需求进行分析的基础上，提出了一种基于SOA/MVC的开放式控制系统架构。该架构融合了组件技术的独立性和灵活性、S（）A的可重构性、MvC的逻辑与显示的隔离性。基于该框架的控制系统可划分为：应用子层、服务总线子层、服务模块子层、驱动子层、设备子层。该架构大大增强了控制系统的柔性和开放性。为了满足本地控制、网络控制、柔顺装配实验控制等多任务的需求，对6-PUS/UPU控制系统各层进行设计与开发，验证了该架构的可行性和有效性。

英文摘要：

To improve the reconfigurebi｜ity and maintainability of the control system, on the basis of analyzing the demand for 6 PUS/UPU parallel mechanism, the open control system architecture based on SOA（service-oriented architecture）/MVC（model view controller） is proposed. This architecture integrates the independence and flexibility of component technology, the reconfig urebility of SOA and the isolation of MVC between logic and view. The framework-based control system can be divided into ap plication sub-layer and service-bus sub-layer, service-module sub-layer, drive sub-layer, equipment sub-layer. The flexibility and openness of the control system can be greatly enhanced by the architecture. To satisfy multi-tasking needs of local control and network control, compliance assembly experimental control, cases of the control system of 6-PUS/UPU PM is designed and implemented, the feasibility and efficiency of the presented architecture are demonstrated.