中文摘要：

并联机床具有刚度高、动态性能好、加工效率高等特点,已在大型航空结构件的加工等领域得到了成功应用。运动学标定是并联机床重要的精度保证手段之一。本文从误差建模、位姿测量、误差辨识及误差补偿等方面介绍了并联机床的运动学标定方法,并具体介绍了一台国产并联机床的运动学标定试验及相关研究。

英文摘要：

With the advantages of high rigidity, good dynamic characteristics and high efficiency, parallel kinematic machine tools have been applied successfully in the machining of large aviation structure. Kinematic calibration is one of the important means to guarantee the accuracy of parallel kinematic machine tool. This paper introduces kinematic calibra-tion methods of parallel kinematic machine tool, including error modeling, pose measurement, error identification and errorcompensation, and additionally focuses on the calibration experiment and the relevant research of a domestic parallel kine-matic machine tool.