并联机构, 运动正解, 解析法, 正交补方法

The coupling relationship among the positional and orientational variables of the moving platform of general 6-SPS parallel mechanisms was studied. Six in nine variables were expressed by the three remainder variables, so the position variables were expressed by orientational variables. Applying Grbner basis algorithm, fifteen four order compatible algebraic equations were obtained, which contained the three remainder variables. The orthogonal complement method was used several times to eliminate the redundant variables, by this way the problem of the forward kinematics analysis of the general 6-SPS parallel mechanisms can be simplified as several twenty order algebraic equations in the end. It is verified that these equations have the same solutions. 