【摘要】 本文根据构造的实体几何造型的思想建立了Ｓｔｅｗａｒｔ平台机构的实体模型，并采用画家算法，结合Ｓｔｅｗａｒｔ平台机构的结构特点，提出了针对该机构的消隐算法．另外，作为一种并联机器人机构，Ｓｔｅｗａｒｔ平台机构在运动过程中也较容易出现干涉现象，本文对干涉情况也作了讨论．上述这些算法用于Ｓｔｅｗ ａｒｔ平台机构运动学仿真软件的开发实践中，取得了较好的效果更多还原

【Abstract】 Based on the constructive solid geometry (CSG) and the painter algorithm, the contruction of the solid model of Stewart Platform Mechanism (SPM) and its hidden surface removal are presented in this paper. At the same time, the interference problems of SPM in motion are discussed. These methods have been successfully used in the software development of kinematics simulation of SPM.更多还原