| The 6-SPS parallel robot is a new kind of robots in comparision to conventional serial robots. It has more advantages over serial robots in terms of stiffness, high load/wight ratio, precision, velocity, and low error. However, it is rather difficult to analyze the kinematics and workspace of parallel manipulators due to its specific closed-loop. So, the research will be of great significance, and can help to promote its research, application and spread too.Based on inverse equation, the forward solution model of position is presented in this thesis through method of successive approximation, for parallel robots possess characteristic of easy inverse solution and difficult direct solution. The method is proved to be highly effective by simulation example. The direct and inverse models of velocity and acceleration are founded by approach of influence coefficient and principle of rigid body moving, and furthermore, studies its movement-viewed problem. Given multiple restrictions of workspace, the shape and volume of workspace are gained through method of boundary numerical search.Under mathematics model of kinematics and workspace, the simulation system of kinematics and workspace are developed through the method that combines parametic design with interactive design. It is valuable for the simulation system to improve designing efficiency.Finally, the kinematics and workspace of 6-SPS parallel manipulator are analyzed and researched by simulation results.
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