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提出一种求解６－ＰＳＳ（Ｐｒｉｓｍａｔｉｃ－ｓｐｈｅｒｉｃａｌ－ｓｐｈｅｒｉｃａｌ）并联机器人操作机姿态空间边界的瞬时机架法。该方法将给定动平台参考点位置后的操作机抽象成６条满足闭环约束的单开链——一类双自由度空间零族曲柄滑块机构。根据两运动构件相对速度（角速度）与约束边界法向（切向）的正交条件，构造了求解末端执行器姿态空间的解析模型。最后，探讨了尺度参数对动平台实现姿态能力的影响规律，并通过算例验证了该方法的有效性。
An instantaneous rack method for solving the pose space boundary of 6-PSS (parallel-spherical-spherical) manipulators is proposed. This method abstracts the operator behind the reference point of a moving platform into six single-open-chain-a class of two-degree-of-freedom, family of spatial slider actuators that satisfy the closed-loop constraints. According to the orthogonal conditions of the relative velocity (angular velocity) of the two moving members and the normal (tangential) of the bounding boundary, an analytical model for solving the end-effector attitude space is constructed. Finally, the influence of the scale parameters on the attitude and attitude of the moving platform is discussed, and the effectiveness of the method is verified by an example.