Abstract：In accordance with the character of parallel robot manipulator,and by dircct derivation for positioninverse sollution,the first-order and second-order influence coefficient matrices of a parallel 6-SPS ro-bot manipulator are established.And the problem of the velocity and acceleration analysis are thussolved,which lays a foundation for error and dynamic analysis.The first-order and second-order influ-ence coefficient matrices derived here are in simple and uniform expression,and are suitable for computercalculation.Finally,a numerical example is given.
[1] Hunt K H. Kincmatic geometry of mechanisms. Great Britain, Oxford University Press, 1978:50-100
[2] Xang D C H, Lec T PJ. Feasibility study of a platform type of robolic manipulators from a kincmatic viewpoint.ASME Mechanisms, Transmissions, and Automation in Design, 1984;106:189-198
[3] Mohamed M G, Duffy.A direct determination of the instantaneous kinematics of fully parallel robot
[4] manipulators. ASME Mechanisms, Transmissions, and Automation in Design, 1985;107:226-229
[5] Huang Z.Modeling formulation of six-DOF multiloop parallel manipulator:part 1-kincmatic influence
[6] coefficient. In:Fourlh-IFTOMM Symposium Linkage and CAD Design Methods, Romania, 1985:155-170
[7] 黄真,严军.平行多回路机器人机构的瞬时螺旋运动.机械工程学报,1986;22(4):56-61
[8] 黄真.王洪波.复杂多环空间机构动力分析的影响系数法.机械工程学报,1988;24(3):74-80
