Its characteristic of the structural layout is introduced, the inverse kinematics equations and the architecture constraints are established.

The eigenvalues and eigenvectors of the matrix are computed and the inverse kinematics of 6R manipulators is solved.

Making use of the property that it is easy to obtain the inverse kinematics of 6-DOF parallel manipulator,the forward kinematics of the 6-DOF parallel manipulator is transformed into using inversed kinematics results through training and learning.

Forward solution of position and analysis of working space for a new typed hybrid virtual axle machine tool;

A kind of analytic algorithm for accuracy of parallel robot based on forward solution of position;

Firstly,using the forward solution method of positions to analyze the forward solution of positions of this mechanism,and obtained the closed equation of forward solution of positions,and then to carry out inverse solution of positions on the mechanism by applying the analytic method.

Finding all solutions to forward displacement analysis problem of 6-SPS parallel robot mechanism with chaos-iteration method;

After several iteration steps, the actual solution of forward displacement analysis can be obtained.

And the robot s forward displacement analysis and the inverse displacement analysis were studied by the method.

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

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.