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direct kinematics. Abstract. Through analyzing the structural features of the 3-RPS parallel mechanism, establish the position constraint equations of the parallel mechanism, input the initial value, calculate the value of positive solution to location by symbolic operation in the Matlab and get the corresponding institutions posture figure. It shows that the equations for the forward displacement analysis of 3-RPS can get all the value positive solutions, which is accurate and reliable.

The Forward Displacement Analysis of 3-RPS Parallel Mechanism Based on Matlab Symbolic Operation