Sophisticated structure design to simplify the forward kinematics and dynamics of this kind of closed-link structure, the first one regarded the Mathematics Problem of The Century. Final structure can compute forward kinematics by just three redundant sensors or by three nonlinear equations with three unknowns, and for dynamics it can reduce the computation consumption to at least half.

Analyze the workspace mathematically and plot the 3D graph to illustrate the clear workspace of the parallel manipulator

Base on the previews workspace computation, optimize the link parameters to achieve larger workspace

Program the real-time dynamics of parallel structure we designed, with computing cycle of 6.6 millisec. on Pentium 133 PC, which fast enough for real-time control

Build the prototype and compare the different control scheme and optimize the servo gains to get best performance