Abstract：A new structure of 6-RSPS simulator platform which is able to 360° rotary is presented. And a method for inverse kinematics is presented. According to the links vector diagram, the relationship between the length of links and the rotate angle of the under-hinge and the position and orientation of the platform is derived. According to constraints and optimization conditions about the relevant parameters, come to a conclusion that the inverse kinematics of the 6-RSPS platform have multiple value. Then get the optimal solution under the circumstances of the optimized conditions. Numerical results show that applying this method can get a satisfactory inverse kinematics solution, it’s able to avoid the washout algorithm on the rotate direction effectively, and simulate the feeling of swerve of the vehicle completely.
2013, Vol. 32 
