Method and Simulation for Kinematics of 6-SPS Parallel Mechanism

Abstract:

Solving forward displacement is the difficulty of the 6-SPS parallel kinematics calculations, to make sure solving forward displacement easily, in this paper, added a initial multi-DOF drive to the 6-SPS parallel mechanism's moving platform in the ADAMS environment to make kinematical simulation, to get simulation of inverse kinematics solution and strike a theoretical inverse kinematics solution in the MATLAB environment, and prove the correctness of simulation of inverse solution. The inverse simulation position be used as input parameters to drive this parallel mechanism, by the solving forward displacement, results showed that the forward displacement is consist with the initial-DOF-driven values, indicating it is correct. It proves the use of these methods can be simply and easily calculate the required 6-SPS parallel mechanism positive solution, which can provide the reference of such institutions' solving forward position and control.

• Periodical: Advanced Materials Research (Volumes 1033-1034)
• Pages: 1334-1337
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.1033-1034.1334
• Online since: October 2014
• Authors: Yi Jun Zhou*, Xue Ming Li, Hai Yang Xu, Heng Liang Fan
• Keywords: Adam, Kinematics, MATLAB, Parallel Mechanism

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