A universal and simple method to solve the velocity / acceleration of parallel mechanism

The velocity/ acceleration analysis is an important part of the kinematic analysis, which is of great significance to establish a universal and simple velocity / acceleration analysis model to realize the precise control of parallel mechanism. In this paper, according to the differential relationship among position, velocity and acceleration, the velocity / acceleration mapping formula between the driving branch and the position and attitude parameters of the moving platform is established. Moreover, in order to ensure the accuracy of calculation, the characteristic value correction iteration method is used to solve the singular and ill-conditioned of Jacobian matrix and Hessian matrix which may be generate under some special attitudes. The principle of the method is universal and easy to understand, moreover, the experiments show that the method can realize the velocity / acceleration solution of hybrid drive mechanism.