Direct Kinematics in Analytical Form of a General Geometry 5–4 Fully-Parallel Manipulator

摘要: This paper presents the analytical form solution of direct position analysis for a fully-parallel manipulator that features e base and platform connected by six adjustable-length legs whose extremities meet respectively at four five points. When leg lengths are given, becomes statically determined structure can be assembled in different configurations. The aims solving all possible In paper, is first reduced to three non-linear equation system unknowns, then two unwanted unknowns eliminated thus obtaining final 24th order polynomial only one unknown. twenty-four roots provide as many configurations 5–4 complex field. Numerical examples support new theoretical findings.