eng Science and Education Publishing Journal of Automation and Control 2372-3041 2017-12-11 5 2 76 80 10.12691/automation-5-2-10 AUTOMATION20175210 article Marek Sukop 1 Rudolf Jánoš rudolf.janos@tuke.sk 1 Ján Semjon 1 Peter Tuleja 1 Marek Vagaš 1 Peter Marcinko 1 Ondrej Juruš 1 Department of Robotics, Technical University of Kosice, Kosice, Slovakia Article describe new method of simulation of parallel robots. Since currently there are only few efficient and universal tools for modeling, interpretation and kinematic simulation such one has been was developed and implemented. A new procedure allows the formalize able calculation of the direct transformation as well as the Inverse transformation and is based on mathematical modeling which has proved itself have delivered optimal performance in the area of the industrial robots. http://pubs.sciepub.com/automation/5/2/10/automation-5-2-10.pdf parallel robots simulation kinematic of hexa robot singularities of parallel robots