Kinematic Analysis of 6-DOF Parallel Robot with Multi-loop Coupling

  • Liang YuEmail author
  • Peng Wang
  • Zenglin Ye
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1146)


A multi-loop coupled 6-DOF parallel robot with 3-RSS-PRSS branch type is designed. The kinematics model of the robot is established by vector method, and the kinematics equation is solved. The robot designed not only has the high-speed movement characteristic of DELTA robot, but also has the flexibility characteristic of 6-DOF series robot. The research method of its kinematics position relationship provides reference for kinematics analysis of the same type of robot.


Parallel robot Configuration design Kinematic analysis 



The work was supported by the key projects of natural science research of Anhui province (KJ2017A456) and scientific research project of Huainan Normal University (2019XJYB08, 2017xj86).


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.School of Mechanical and Electrical EngineeringHuainan Normal UniversityHuainanChina
  2. 2.R&D CenterAnhui Hiseed Robot Company LimitedMaanshanChina

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