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根据运动学等效的原则，在并联机器人中引入等效串联机器人及分支等效串联机器人，以等效广义坐标为中间变量建立并联机器人运动学正道解求解算法。该算法能有效处理结构带来的运动耦合，并且规划的软件具有自动生成迭代初始点、避免多解性以及便于实际应用等特点，从而为并联机器人的结构设计与创新提供了理论支持。
According to the principle of kinematic equivalence, the equivalent series robot and branch equivalent series robot are introduced into the parallel robot, and the algorithm of solving positive solution of parallel robot kinematics is established by using the equivalent generalized coordinate as the intermediate variable. The proposed algorithm can effectively deal with the structural coupling and the proposed software has the features of automatically generating iterative initial points, avoiding multiple solutions and facilitating practical application, which provides theoretical support for structural design and innovation of parallel robots.