Kinematics Analysis of Two DOF Parallel Robot Mechanism Based on SimMechanics

The for ward and inverse kinematics analysis for a 2 DOF parallel manipulator was investigated.With complex vector method,the forward kinematics and inverse kinematics models were built to derive the kinematics equations.The inverse kinematics problem was solved by numerical methods.Before the modeling,the initial position of the robot arm was estimated rationally according to geometric position of the arm to avoid the numerical solution from no convergence.Finally,the computer model for simulating this kind of parallel robot was established under SimMechanics.And the feasibility of numerical method was justified by simulation.The numerical solution of nonlinearity equations set in kinematics simulation and inverse kinematics were completed by SimMechanics module to make the solution of the robot model and validation more effective.