A finite element full-scale entity model for 6-UPS parallel kinematic machine(PKM)and its accessories are established based on substructure method.

• 应用子结构法建立了一种UPS型6自由度并联机床及其部件的有限元实体模型,并通过模态实验和有限元模态分析对有限元实体模型进行了验证。