Research in parallel computations for the forward dynamics of flexible manipulators;

This paper presents an efficient parallel algorithm for rigid manipulator forward dynamics.

An augmented computational model for the forward dynamics is developed by using the Jourdain principle and the vector of Lagrange multipliers.

Direct kinematics analysis of a special class of the 6/6-SPS Stewart manipulators;

It’s difficult to solve the direct kinematics of a parallel machine tool(PMT),which will deal with nonlinear function set.

Based on kinematics model of spherical five-bar mechanisms, the analytical solutions of direct kinematics and inverse kinematics are deduced, the working and assembly modes of mechanisms are analyzed, and the Jacobian matrix of mechanisms is derived.

A novel approach of using SolidWorks to realize motion simulation and solve the forward kinematics of a 5-UPS-PRPU parallel machine tool is presented.

Based on the inverse kinematics,the forward kinematics of six-bar parallel mechanism in synchrotron radiation beam-line was obtained by trust region method for nonlinear optimization,and the corresponding program of MATLAB language was also designed.

The forward kinematics problem, the workplace problem, the accuracy design and accuracy compensation problem, the motion simulation of the solid model and the mechanism bar's interference analysis problem on the 6-DOF hybrid driven parallel mechanism with the five-bar closed-chain have been thorough studied.

The forward kinematics solution and inverse kinematics solution are given and a set of robot mechanism simplification procedures are put forward.