| In this paper a new type of parallel robot with linear actuators was introduced, and the type of 6-PSS parallel robot was analyzed on kinematics.The development course of some kinds of parallel robots with linear actuators was summarized, and they were sorted by their configuration characteristic.The fire-new inverse kinematics model of 6-PSS type was deduced by the known inverse kinematics model of 6-SPS type. By this method, a set of equation was given, and the direct kinematics was worked out by the Monte Carlo method.A set of new expressions was deduced for the disadvantage of the Monte Carlo method, and it was solved by the Newton iterative method. The two different methods were introduced in the solution of direct kinematics, and there trait were compared. |
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