Aiming at complex calculation of forward kinematics of steel band parallel robot

the kinematics model and solution of steel band parallel robot is discussed.The existing kinematics analysis methods are introduced.The working principle of steel band parallel robot is described.The inverse kinematics model of steel band parallel robot is set up.The successive approximation with the approximation direction as well as instantaneous velocity direction is used to set up the forward kinematics model and the solving procedure is described in detail.The main factors affecting calculation error of steel band length are discussed.The formula of the relationship between steel band length and support rod length is obtained.The forward kinematics model and inverse kinematics model are solved to get numerical result.The result shows that the forward kinematics model and inverse kinematics model are validity.