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6-SPS parallel robot structural stiffness , high load capacity , high precision , simple inverse position , etc. , not only applied in various fields , but also the research focus of domestic and foreign scholars , kinematics and dynamics and optimization of robot and control studies provide a major theoretical significance . Traditional Stewart platforms based on structural improvements, design symmetrical structure of 6-SPS parallel robot structure , using MATLAB software to map out considering member of interference or parallel robot workspace , move affect the work space volume The working volume impact factor . The paper focuses on the application of virtual prototyping technology to solve Forward and Inverse Kinematics add points at the end of the mid-point of the moving platform driven direct measurement of displacement - time curve Solving Inverse Kinematics of 6 bar . ADAMS / View provides a powerful post-processing functions , the trajectory curve measuring rod into the spline curve function as a known function plus the mobile vice , and then measuring the moving platform end of the track curve obtained Forward Kinematics . Speed ??and behavior analysis to institutional drawn between dual relationship . Virtual displacement vector is then calculated according to the principle of virtual work analysis institutions , to study the dynamics of the structure on the basis of the kinematics multi-body system are listed Lagrange dynamics equation , simulation and draw the rod force , torque , speed , acceleration graph can visually see the movement of the lever member . Finally, the select key structural points of the structure as the parametric design variables , the biggest driving force of the drive rod output as the objective function , repeated to optimize the design of test , to get the maximum value of the driving force , and to obtain the maximum parameters point. Institutions not only to optimize the performance , but also optimize the institutions .
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