Software for inverse parallel kinematic equations

Hacker404 wrote 05/11/2017 at 05:18 0 points

I am looking for software for inverse parallel kinematic equations. 

I found lots (including OpenRave) but everything seems to be for series robotics and not parallel. 

The Project is a half inverted arc delta robot, here -

I really don't want to re-invent the wheel with this and I haven't studied kinematics so to do the math will be a challange for me.