Rapid direct kinematics solution method of 3-RRRT parallel robot

Direct kinematics model and solution method of 3-RRRT parallel robot was researched. According to mechanism character and joint motion range of the parallel robot, it was put forward that supporting bar orientation cosine and motion platform absolute station coordinates of the parallel robot were taken as system's generalized coordinates, and kinematics model of the parallel robot was set up, a new direct kinematics solution method of the parallel robot was presented, and then on base of the direct kinematics solution method, direct kinematics numerical simulation of the parallel robot is completed using MATLAB software, and the simulation results showed that the direct kinematics solution method and program of the 3-RRRT parallel robot presented is effective and rapid.