The accuracy of the test results of friction and wear characteristics of artificial hip joint materials is decided by the accurate movement of test equipment.Due to that

3SPS +1PS parallel mechanism is selected as the core of the parallel module of bionic hip simulator.The solid model is established by using Pro/E and ADAMS.According to the bionic features of kinematic and dynamic characteristics of normal human hip

we can run their kinematic and dynamic simulation in ADAMS.Then it is concluded that the main movements of every limb of the parallel mechanism lie in the Z direction.The curve of r2 is the most complex

but its displacement

velocity

acceleration amplitude is relatively minimal.The displacement curve of r1 is the largest.From the force curve of constraint joints

it is found that the major forces in the parallel mechanism resulted by the external force lie in the Z-direction of r0 and r01.The simulation results lay the foundation for analyzing of error sensitivity of structure

designing corresponding control system and the parallel mechanical structure.