Application of ADAMS in parallel robot's kinematics analysis

Aming at the parallel robot's kinematics analysis and calculation,the 3-UPS/UP parallel mechanism was taken for example and the steps and method were introduced that using the dynamics simulation software ADAMS to get the kinematic positive and inverse kinematics solution.The virtual prototype of 3-UPS/UP parallel robot was established in ADAMS after using the software Inventor to get 3-D model assembling,then the virtual prototype were imposed joints and motion.The kinematic positive and inverse simulation were run to get direct kinematics solution and positive solutions rapidly and exactly.The result indicates that the method simplifys the process of calculating largely and provides meaningful examples for the parallel robot's kinematic analysis and mechanism designing.