2006•Jisuanji fangzhenRequires access

Direct Kinematics Solution Research and Simulation of 6-SPS Parallel Manipulator

Hui Xu

Abstract

Direct kinematics solution method of 6-SPS parallel manipulator was researched.Kinematics model of 6-SPS parallel manipulator was set up,and a new direct kinematics solution method of 6-SPS parallel manipulator was put forward,and then MATLAB iterative solution program on base of Moore-Penrose pseudo inverse was worked out.Direct kinematics numerical simulation of 6-SPS parallel manipulator was done using MATLAB software.It is proved that the direct kinematics solution method and program of 6-SPS parallel manipulator presented is effective and rapid.

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Key concepts: Parallel manipulator, Kinematics, Inverse kinematics, MATLAB, Kinematics equations, Computer science, Forward kinematics, Manipulator (device)