Abstract
This paper presents the direct position analysis in analytical form of a six-degree-of-freedom 4–4 fully-parallel mechanism. For a given set of actuator displacements the mechanism becomes a structure and the analysis finds all the possible closures of the structure. The analysis is performed in two steps. First, the two closures of the tetrahedron-like subchain of the structure are found. Then, for each tetrahedron closure, two transcendental equations are determined that represent the closure of the remaining part of the 4–4 structure. The two equations can be reduced to algebraic equations and, after eliminating the unwanted unknowns, a final 8th order equation in only one unknown is obtained. Hence, the maximum number of possible real closures of the 4–4 structure is sixteen. Numerical examples are reported which illustrate and confirm the new theoretical result.
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© 1993 Springer-Verlag London Limited
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Innocenti, C., Parenti-Castelli, V. (1993). Analytical form solution of the direct kinematics of a 4–4 fully in-parallel actuated six degree-of-freedom mechanism. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031430
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DOI: https://doi.org/10.1007/BFb0031430
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