Abstract
This paper investigates the forward kinematic problem of five-degree-of-freedom parallel mechanisms generating the 3T2R motion containing five identical legs of the PRUR type. The general mechanism originates from the type synthesis performed for symmetrical 5-DOF parallel mechanisms. The kinematic modeling of the mechanism is addressed using the so-called Study parameters and Gröbner bases and the final system of equations is solved using homotopy continuation. Finally, it is shown that the mechanism may have more real solutions than the 6-DOF Stewart–Gough platform.
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Masouleh, M.T., Husty, M., Gosselin, C. (2010). Forward Kinematic Problem of 5-PRUR Parallel Mechanisms Using Study Parameters. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_23
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DOI: https://doi.org/10.1007/978-90-481-9262-5_23
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Online ISBN: 978-90-481-9262-5
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