LOCUS CIRCLE METHOD FOR THE ANALYSIS OF INVERSE POSITIONAL PROBLEM OF ROTATION INPUTTING PARALLEL ROBOTS

This paper analyzes the construction and characteristics of several typical rotation inputting parallel robots, presents a method called Locus Circle Method which can be used for the analysis of inverse positional problem of all kinds of rotation inputting parallel robots. This method makes it much more convenient to model and solve the inverse positional problem and estimate the condition of inverse solutions, and simplifies the position control algorithm as well.