Kinematics Modeling of Hydraulic Manipulating Test-bed

The manipulating test-bed is a typical parallel mechanism, in which the three actuators move according to given regulation to change the gesture of swash plate. Directing to the triangle distribution of three actuators, the characteristic of the test-bed structure was analyzed, and the function of this test-bed was investigated. The coordinate system of the parallel mechanism was established, and the freedom of the parallel mechanism was calculated. According to the analysis of the manipulating test-bed aforementioned, the restriction condition of the parallel mechanism was analyzed when the gesture of the swash plate changed, and then the forward and inverse position solution were given. The position solution will guide the actuator control of test-bed with high precision.