Additionally, the inverse kinematics problem, Jacobin matrix, the workspace simulation respect to a variety of postures and other parameters of performance are presented.

At first, inverse kinematics with geometric errors is formulated.

Faced too many types of serial spatial robot mechanical, a universal method to solve inverse kinematics analysis about them attracted many researchers of the kinematics community and become their research goal.

In comparison with the SKM400,the inverse position and velocity were calculated.

By inverse kinematics of position,jacobian that depicts the relation between input and output velocity,is derived through predigesting the manipulator into three models according to the principle of the motion equivalent.

This paper establishes the model of a 3RRC parallel manipulator,according to the model,calculate the inverse displacement analysis,designs and simulates the 3RRC virtual prototype,tests and verifies the conclusion of the theory analysis.

A new 6-DOF parallel robot was described and its construction and characteristic, analysis of inverse positional problem and multi solution by Locus Circle Method, and simulation results of workspace are discussed as well.

This paper analyzes the construction and characteristics of several typical rotation inputting parallel robots, presents a method called Locus Circle Method which can be used for the analysis of inverse positional problem of all kinds of rotation inputting parallel robots.