The stationary platform is connected with the moving platform by the same four TPS driving links and a PS constraint link,one translation DOF and three rotation DOF can be achieved.

• 对主进给机构进行了机构设计,推导出了主进给机构一、二阶运动影响系数矩阵,建立了主进给机构封闭形式的运动学方程。