中文摘要：

在分析可调整支架各组成部件及其总体功能特点基础上,经合理的简化,建立了其13自由度机构参数模型;利用C—空间法对可调整支架位置正解进行了分析,得出了可调整支架枝节组件的空间坐标计算方程;为衡量调整支架的工作能力,分析并建立了调整支架工作空间的表达方程。对可调整支架工作空间的分析,可以为快速、准确地搭建各种不同外形的支撑空间提供依据。

英文摘要：

On the basis of analyzing each composition parts of the transformable supporting mechanism,its general function and feature,a parameter model of 13 degrees of freedom is built by reasonably simplifying. With configuration space method the calculation equation of space coordinates of incident components is constructed by analyzing the forward displacement of supporting mechanism. In order to measure the work ability of supporting mechanism,expressing equation of its workspace is analyzed and built. The analysis on the workspace of the transformable supporting mechanism can provide bases for quickly and accurately constructing different supporting space.