Aiming at simplifying the parameter calibration process of the 6 degree-of-freedom(6-DOF) parallel mechanism, improving the calibration efficiency, and reducing the calibration cost, this paper proposes a pose measurement device and method based on the Orthogonal Displacement Measurement (ODM) system. First, the pose calculation method of the proposed device is studied, and its forward and inverse kinematics solutions are solved using spatial analytic geometry method; second, an error model for the combination of the parallel mechanism and the ODM system is constructed using the infinitesimal displacement synthesis method; third, based on the proposed error model, a mathematical model is constructed for the optimization problem of the parameter error identification of the combination, wherein the minimization of the sum of squares of in, the indicating value displayed by the sensor, is taken as the objective function, and the structural parameter errors of the combination are taken as the design variables; at last, the ODM system is used to measure the pose of the 6-DOF parallel mechanism, and the OASIS software is adopted to directly find out the optimal solutions of the parameter errors and compensate them to the parallel mechanism control system, so as to complete the parameter calibration of the parallel mechanism. The comparison result of the pose errors before and after the calibration shows that, the maximum position error has been reduced by 69 %–94 %, and the maximum posture error has been reduced by 87 %–97 %. Using ODM system to calibrate the parameters of the parallel mechanism can not only effectively improve the positioning accuracy of the parallel mechanism, but also simplify the calibration work, improve the calibration efficiency, and reduce the calibration cost.

为了简化六自由度（6-DOF）并联机构的参数标定过程，提高标定效率，降低标定成本，提出了一种基于正交位移测量的姿态测量装置和方法（ ODM）系统。首先，研究了该装置的姿态计算方法，并使用空间解析几何方法求解了其正向和逆向运动学解。其次，采用无穷小位移综合法，建立了并联机构与ODM系统组合的误差模型。第三，基于提出的误差模型，为组合参数误差识别的优化问题构建数学模型，其中最小二乘平方和。在，将传感器显示的指示值作为目标函数，将组合的结构参数误差作为设计变量；最后，采用ODM系统对六自由度并联机构的姿态进行测量，采用OASIS软件直接找出参数误差的最优解，并将其补偿到并联机构控制系统中，完成并联机构的参数校准。校准前后姿态误差的比较结果表明，最大位置误差减少了69％–94％，最大姿态误差减少了87％–97％。使用ODM系统校准并联机构的参数，不仅可以有效提高并联机构的定位精度，