Kinematic Analysis and Co-simulation of 3UPS/S Parallel Mechanis

In this paper, in order to improve the design accuracy and design efficiency of a three-DOF hip-assistive exoskeleton, a 3-UPS/S parallel mechanism is studies as the researching target, a particular description of the structure characteristics is presented. By using differentiation method which differ the constraint equations of parallel mechanism, direct parallel kinematical Jacobian matric denoting the velocities relationship between active joints and end-effector is obtained. the virtual prototype simulation was built through ADAMS software, the geometrical dimension parameters and mechanical performance, including running stability and feasibility, are verified by the motion simulation. Finally, using MATLAB/Adams joint co-simulation technology to compare end-effector outcome of ADAMS simulation with MATLAB parametric model, the inverse kinematics analysis of 3UPS/S parallel mechanism is verified, which provide a theoretic basis for the further workspace analysis and control system design.