In order to realize the automatic and flexible assembly and disassembly of the LRU module of the large laser device,meet the requirements of large rigidity,high precision,small installation space and large lifting height on the movement realiza-tion mechanism,and solve the problem of low rigidity of the mechanism and occupation of installation height caused by the direct use of the six-dimensional force sensor,a method of combining motion and force measurement is proposed.On the basis of the 3-PRS/PSS and 4-PPR hybrid mechanism,the low-dimensional force sensor is used to replace the six-dimensional force sensor,the statics analysis of the 3-PRS/PSS dynamic platform is carried out,and the calculation algorithm of the six-dimensional force is deduced.And use Adamsand Matlabto verify the correctness of the algorithm.After the task analysis and error analysis of the as-sembly and disassembly process,the algorithm meets the task requirements and has useful value in actual engineering projects.
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