Closed form solution for direct kinematics of a 4PUS + 1PS parallel manipulator

Forward Position Kinematics of a Parallel Manipulator with New Architecture

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most 24 solutions for FPK problem. This result has been verified by using other tec...

A Quasi-Closed Solution Method for Computing the Forward Kinematics of a Redundant Parallel Manipulator

In this paper, a quasi-closed solution method is presented to solve the forward kinematics of a three DOF actuator redundant hydraulic parallel manipulator. It is shown, that on the contrary to series manipulators, the forward kinematic map of the parallel manipulators involves highly coupled nonlinear equations, which are almost impossible to solve analytically. The proposed method uses a comb...

A closed-form solution for the position analysis of a novel fully spherical parallel manipulator - ERRATUM

A new closed-form kinematics of the generalized 3-DOF spherical parallel manipulator

This paper presents a new method to analyze the closedform kinematics of a generalized three-degree-of-a-freedom spherical parallel manipulator. Using this analytical method, concise and uniform solutions are achieved. Two special forms of the three-degree-of-freedom spherical parallel manipulator, i.e. right-angle type and a decoupled type, are also studied and their unique and interesting pro...

The 321-HEXA: a fully-parallel manipulator with closed-form position and velocity kinematics

This paper presents analytical solutions for the forward displacement and velocity kinematics of the “321-HEXA”, a fully-parallel manipulator design with R-RR-RRR legs as in the “HEXA” design and with a “3-2-1” top platform. The forward position and velocity kinematics rely on simple geometric algorithms that find the position and velocity of the top of a tetrahedron from the knowledge of the t...