Exact solutions and applications of the inverse kinematics of six-bar parallel mechanism in synchrotron radiation beam-line

Six-bar parallel mechanism is widely used in synchrotron radiation facilities for X-ray optics of the beam-lines.The six-dimensional adjustment, however, is difficult and inefficient without theoretical direction. Toachieve improved speed and accuracy of the six-dimensional adjustment, characteristics of the parallel mechanism are analyzed. By means of coordinate transformations, the inverse kinematics of six-bar parallel mechanism is studied, and the precise equations for six bars length are obtained. Curves of six bars length are represented after simulating and calculating by MATLAB. The result shows that the method is fast and efficient, the linear resolution can be better than 5 μm and the rotational resolution can be better than 3". This method satisfies practical requirement and provides a theoretical foundation for the platform’s fine adjustment in synchrotron radiation beam-line.