Abstract
This paper presents the analytical form solution of the direct position analysis for a fully-parallel manipulator that features e base and a platform connected by six adjustable-length legs whose extremities meet the base and the platform respectively at four and five points. When the leg lengths are given, the manipulator becomes a statically determined structure that can be assembled in different configurations. The direct position analysis aims at solving all possible configurations. In the paper, the analysis is first reduced to the solution of a three non-linear equation system in three unknowns, then two unwanted unknowns are eliminated thus obtaining a final 24th order polynomial equation in only one unknown. The twenty-four roots of the equation provide as many configurations of the 5–4 structure in the complex field. Numerical examples support the new theoretical findings.
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References
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© 1993 Springer Science+Business Media Dordrecht
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Innocenti, C., Parenti-Castelli, V. (1993). Direct Kinematics in Analytical Form of a General Geometry 5–4 Fully-Parallel Manipulator. In: Angeles, J., Hommel, G., Kovács, P. (eds) Computational Kinematics. Solid Mechanics and Its Applications, vol 28. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8192-9_13
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DOI: https://doi.org/10.1007/978-94-015-8192-9_13
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4342-9
Online ISBN: 978-94-015-8192-9
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