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INFLUENCE COEFFICIENT MATRICES AND APPLICATION OF PARALLEL 6-SPS ROBOT MANIPULATOR

TAN Fanzhong(Heilongjiang College of Heavy-duty Machinery,Fulaerqi)WANG Hongbo;(?)UANG Zhen(Mechanical Dept,Yanshan University,Qinhuandao)  
In accordance with the character of parallel robot manipulator,and by dircct derivation for positioninverse sollution,the first-order and second-order influence coefficient matrices of a parallel 6-SPS ro-bot manipulator are established.And the problem of the velocity and acceleration analysis are thussolved,which lays a foundation for error and dynamic analysis.The first-order and second-order influ-ence coefficient matrices derived here are in simple and uniform expression,and are suitable for computercalculation.Finally,a numerical example is given.
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