船舶广义升沉（升沉、横摇、纵摇）运动补偿平台是大洋采矿系统的耋要组成部分。按照大洋采矿补偿系统的要求，采用单位四元数变换方法，提出了一种新型的基于并联机构的补偿平台。针对由两个3-UPU构成的串并联混合并联机构，进行了工程可行性分析，指出了在确定的广义升沉运动参数下，影响并联机构尺寸规格的主要参数，提出了油缸行程和最小连杆长度的极限相贯线概念的优化原理，并进行了实例计算。

本文提出的“直线刃法”，将渐开线齿形的成形过程看作是直线刃与工件（或刀具）运动的线性组合，它可用来分析各种轮齿成形原理，概念清晰、简明，澄清了传统齿轮加工分析中的一些含混概念，本文还对近年来国内外广泛研究、应用直线刃刀片加工齿轮的方法进行了归纳分析，从理论上提出了一种新的齿轮加工方法-径向切齿法。

The kinemati caccuracy between axes is very important when an NC machine tool performs a contouring cut. This paper describes a theoretical and experimental investigation in which undesired kinematic errors were reduced by means of a mi croprocessor-based control scheme. A theoretical model representing the relationshiP between the dynamic behavior and the controller performance 1n one axis was first developed and then extended to two-axis contouring operations. Based on these elationships, either a closed-Joop proportional (P) or proportional-integral (PI) controller can be optimally designed to manlpulate the machine tool feed drive system to achieve high preci sion. Experiments were performed on anexi sting three-axis NC milling machine that verified the concepts introduced in this paper. The analytical controller design and implementatlon procedure are also detaled in this paper.