Based on inverse equation , the forward solution model of position is presented in this thesis through method of successive approximation , for parallel robots possess characteristic of easy inverse solution and difficult direct solution . the method is proved to be highly effective by simulation example 根據(jù)6 - sps并聯(lián)機(jī)器人反解容易、正解較難的特點(diǎn),本論文基于位置反解方程,通過桿長(zhǎng)逐次逼近的思路建立了位置正解模型,并對(duì)該方法進(jìn)行了實(shí)例驗(yàn)證。