Method of inverse displacement analysis for hybrid twe pmts is a1so given . an analytical method , which is based on surface analysis , for workspace - analysis of 6 - sps type pmts is proposed in this dissertation . topological diagram of workspace for 6 - sps type pmts is derived , the equations of workspace boundny surfaces for 6 - sps type pmts are also derived based on the kinematic characteristic of the pmts 提出了一种求解6 - sps型并联机床主进给机构工作空间的解析方法,该方法以曲面分析为基础,通过分析得到了6 - sps型并联机床主进给机构工作空间四川大学博士学位论文的拓扑逻辑结构图,结合主进给机构的运动特性,得到了主进给机构工作空间边界曲面的曲面方程。