Inverse Kinematics Analysis of 6-DOF Series-parallel Robot

摘要

A new type of Series-parallel mechanism is studied in this paper,which consists of 5-DOF body with a rotary joint in series.The kinematics equations of the mechanism was established.The inverse-solution was done with an algorithm—Successive search method.The singular configurations.According to the singularity phenomenon the improyement was proposed.Velocity and acceleration were analyzed by constructing the first and second order influence coefficient matrixes,and a rumerial simulation was tested by MATLB.