Forward Position Kinematics of a Parallel Manipulator with New Architecture
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Abstract:
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 techniques such as geometric approach and a numerical method known as polynomial continuation. Numerical examples are performed to display all possible solutions available for the devised manipulator.
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Journal title
volume 14 issue 3
pages 239- 246
publication date 2001-08-01
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