Study on kinematics and dynamics of a novel 6-PRRS parallel robot

Based on screw theory and exponential product method,the inverse kinematics of the passive and active joints of the 6-PRRS parallel robot was resolved.According to the mapping relation of input and output of the parallel robot,Jacobian matrix of this robot was obtained on the basis of velocity projection method.A systematic approach was developed to solve the inverse dynamics of a novel 6-PRRS parallel robot.The dynamics equation of the robot constructed on the basis of Lagrange methodby using the principle of virtual work was achieved.A series of kinematics and dymanics issues of this kind robot were solved.These methods also have adaptibility to the research for similar parallel robots.