Forward Displacement Analysis of a Parallel Manipulator

Abstract:

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.

• Periodical: Advanced Materials Research (Volumes 217-218)
• Pages: 1061-1065
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.217-218.1061
• Online since: March 2011
• Authors: Xi Guang Huang
• Keywords: Algebraic Method, Mechanism, Robot

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