The inverse kinematics analysis of the novel 6-DOF parallel mechanism

摘要

In this paper, we present the inverse kinematical of a novel 6-DOF orthogonal parallel mechanism. The displacements Δli (i = 1,…, 6) of steering gears were deduced from the position and orientation of the moving platform. The desired trajectory was assumed to be more complex nonlinear curves, simulations are performed for the real time trajectory tracking of the mechanism. By using Matlab software, the analysis and simulation of mechanism can be carried out conveniently, and the efficiency of the design can be upgraded. The simulation curves of each displacement were provided and analyzed though simulative research. The results will be used for synthesis of the control law in the form of error feedback, and measurements results of actual movements by means of sensors. The analysis can help to realize the trajectory tracking control fast and accurately.