关键词: 并联机器人, 位置正解, 迭代

Abstract: This paper studies and analyzes the 6-DOF parallel robot position forward solution，solves the forward solution problem through the inverse solution method.First unify the top and bottom platforms under a coordinate system.According to the formulas of the distance between two points in the space，take 6 poles elongated values as known quantities，the position posture parameter as unknown quantities，establish 6 poles parametric equations.Solve the posture parameter through the iteration method.One of the features is that the unknown quantities are few in number，but the computation precision is that higher.Another feature is that the usability is strong.Experimental results show that this method satisfies the real-time control requirements.

Key words: parallel robot, position forward solution, iteration method