Kinematics Analysis of 6-PUS Parallel Mechanism Based on Python and ADAMS

This paper researches the kinematics analysis of 6-PUS Parallel Mechanism in the assembly process of aerospace products. The vector analysis method was used to solve the inverse solution algorithm of the parallel mechanism. The iterative method of Jacobian matrix was used to solve the forward solution algorithm of parallel mechanism. A trajectory movement for mobile platform was planned and decomposed to the driven sliders. The simulation of the motion planning based on Python program with mathematic and drawing modules provided a motion control method. The virtual prototype was built and simulated through ADAMS. Compared with the result of motion curve between Python and ADAMS, the errors of position, velocity and acceleration were less than 0.01, which verified the reasonable design of the 6-PUS Model and the correctness of the inverse and forward solution algorithm.