High efficient approach of direct problem with extensive convergence on parallel mechanism

To improve the efficiency of parallel mechanism, the irrationality of direct problem algorithm with Newton iterative method directly was disscussed by taking 3-RPS parallel mechanism as an example, and a high efficient approach to solve the forward solution of parallel mechanism based on descent method of Newtonian-type was proposed. By adjusting the flabby factor, the initial value of differential equation on parallel mechanism was solved, and by introducing the constraint conditions in work space, the precise pose of moving part with specified length was worked out. The simulation results showed that the method could get rid of the initial value constraint. It had global convergence, and could work out the result accurately.