Abstract
A new 6-RSPS simulator platform mechanism is proposed compared with the traditional 6-SPS mechanism. It is more verisimilar when simulating a vehicle’s turning because it can realize unlimited rotation around Z axis so as to avoid the washout algorithm in the direction of Z axis. The kinematics model is established by the rod length vector relationship. The BFS algorithm is applied to calculate the direct kinematics of 6-RSPS mechanism, and the precise direct kinematics solution can be obtained in the condition that the number of iterations decreases. Through the direct kinematics of 6-RSPS with the reverse kinematics solution to find that the rod length errors and the rotary angle errors are all controlled below 1.1 percent.
Published Version
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