Abstract Parallel mechanisms have the advantage of high rigidity, large payload capability, and so on, but positioning accuracy is affected by elastic deflection arising from external load gravity. An approach to improving compensating presented with a 3- R RS parallel mechanism as research object. The implemented introducing springs on moving platform limbs. Taking load, spring force, gravity,...

When a parallel robot used in scene that requires force control, rapid attitude adjustment, or precise positioning, we need to know the dynamic characteristics of moving platform and motion branch, so it is necessary do analysis robot. In this study, for six-degree-of-freedom mechanism, Newton-Eulerian method model dynamics, then inverse dynamics simulation performed through ADAMS software veri...