Abstract
Projective geometry and Grassmannian incidence relationships unify the method of forward kinematic analysis(FKP) of two types of 3dof manipulator, viz.,the planar and spherical versions of double-triangular platform manipulators(ΔΔPM), i.e., PΔΔPM and SΔΔPM, respectively. This method was to demonstrate for the first time that the SΔΔPM can have but two real assembly modes. It was not successful but the minimal polynomial was reduced from order 16 to 8.
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Shum, J.C.F., Zsombor-Murray, P.J. (2000). Direct Kinematics of the Double-Triangular Manipulator: An Exercise in Geometric Thinking. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_40
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DOI: https://doi.org/10.1007/978-94-011-4120-8_40
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