System debugging and experimental analysis of the 6-PUS/UPU parallel manipulator

In this paper, a novel 6-PUS/UPU parallel manipulator is presented. The kinematics of the parallel manipulator is analyzed firstly. Then a PID control system is actualized on the manipulator based on the results of kinematics analysis, and the debug results are verified. The work in this paper has significance for the application of the manipulator.