Study on the workspace of 6-PSS bionic parallel machine horse

Abstract

Analyzed and studied the motion platform of the orthogonal 6-DOF PSS bionic parallel horse which come from the Stewart platform, described the layout features of its structure, based on inverse kinematics and constraints of the links, rotation range of the joints, using numerical boundary search method, and Matlab programming tools, solved the 6-PSS parallel machines horse workspace, drawn the outline of its workspace map, provided the theoretical basis for the design and application of parallel horse.