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应用等效运动模型法建立了六自由度串并联复合驱动型冗余度磨削机器人的运动方程，开发了运动仿真软件，分析了机器人的加工空间，给出了仿真软件的应用方法和实例。仿真结果表明，与其本体结构相比，该机器人具有较大加工空间。所开发的仿真软件是机器人设计、分析、编程及控制的重要基础模块。
The equations of motion of the six degrees of freedom series and parallel combination driven redundant grinding robot are established by using the equivalent kinematic model method. The motion simulation software is developed and the machining space of the robot is analyzed. The application methods and examples of the simulation software are given. The simulation results show that compared with the ontology structure, this robot has more processing space. The developed simulation software is an important basic module for robot design, analysis, programming and control.