Mathematical Model Optimization of Parallel Robot Position Parameters Based on 3×3 Quadratic Transformation Matrix Description

In order to simplify the description of the mathematical model of parallel robot posture, a 3 × 3 posture transformation matrix is introduced and combined with the position transformation matrix to describe the spatial motion position of the parallel robot. The optimized mathematical model of parallel robot motion posture is simpler to understand than the previous 4 × 4 posture transformation matrix, more traceable and easier to analyze and diagnose, more operable and less prone to errors in calculation. Thus, it is more suitable to use the 3×3 transformation matrix to describe the complex and variable robot spatial positions and poses.