Kinematics Analysis And Calculation of 6-DOF Parallel Robot

Kinematics analysis of 6-DOF parallel robot is the basis of deciding structure parameters, actuator structure and its motion parameters, selecting servo valve, calculating system flow. In this paper, system physical model and mathematic model are build by machine principle, and kinematics analysis and calculation are finished by matrix method. In the end of this paper, the method of kinematics analysis and calculation is described in detail by the example of tutorial test platform. At the same time, they are concluded that the rules of the actuator stroke, velocity and its acceleration in the different poses.