如何在系统实时控制时间限制范围内精确、快速地实施解耦计算 ,是并联机器人实时控制中急待解决的一个关键问题。以往一般采用解析法 (先建立复杂的数学模型 ,然后计算机编程求解 ) ,但是这种解耦方法实际可行性较差。因此 ,寻求解耦新思路、新方法已成为并联机器人研究工作中急待解决的问题。这里就此问题 ,提出了利用三维动画技术进行运动解耦的新思路、新方法。该方法简捷方便 ,开发周期短 ,其解耦精度与解析法相当接近 How to implement the decoupling calculation precisely and quickly within the real-time control time limit of the system is a key problem to be solved urgently in real-time control of parallel robots. In the past, analytical methods were generally adopted (first, a complex mathematical model was established and then solved by computer programming), but the practical feasibility of this decoupling method was poor. Therefore, looking for a new idea of ​​decoupling, the new method has become an urgent problem to be solved in the research of parallel robots. Here on this issue, put forward the use of three-dimensional animation technology for new ideas, new methods. The method is simple and convenient, the development cycle is short, and its decoupling accuracy is very close to the analytical method