Aiming at the difficulty of solving the kinematics model of parallel mechanism,the forward kinematics and inverse kinematics of TriMule parallel mechanism are analyzed and simulated,and the correctness and stability of the kinematics algorithm are evaluated through the processing parameters of the prototype platform.According to the characteristics of TriMule robot mechanism,the inverse and forward kinematics models of the robot parallel mechanism were established based on vector method and iterative method of the length difference of connecting rod respectively,and the relationship between the length of the robot driving branch chain and the position and pose of the moving-fixed platform was deduced.Sampling orientation was selected in the robot motion space,and the kinematic models of TriMule robot parallel mechanism were simulated and verified by MATLAB.The results show that the algorithm is correct and stable.Finally,a TriMule robot friction stir welding experimental platform was built to verify the control stability of the kinematic algorithm.
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