Forward Displacement Analysis of a Parallel Manipulator
A new algebraic method for the solution of the forward displacement analysis of a parallel manipulator is presented in this paper. Based on the algebraic method, the problem of the forward displacement problem is reduced to a polynomial equation in a single unknown from a constructed matrix which is relative small in the size. From the univariate equation, all closed-form solutions of the different locations of the mechanism can be derived.
X. G. Huang "Forward Displacement Analysis of a Parallel Manipulator", Advanced Materials Research, Vols. 217-218, pp. 1061-1065, 2011