MANIPULABILITY ANALYSIS AND DEEINITION OF 6-SPS STEWART ROBOT

In accordance with the character of parallel robt manipulator,the concept of manipulability areused in this paper. Go a step further,the position manipulalibity and orientation manipulalibity are put for-ward.By direct derivation for position inverse sollutiOn,the formula of position and orientation manipulability of 6-SPS Stewart robot are established,which provide a new law for the parallel robot kinematic analysis.