A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator |
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| Authors: | Jaime Gallardo-Alvarado |
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| Affiliation: | Department of Mechanical Engineering, Instituto Tecnológico de Celaya, Av. Tecnológico y A. García Cubas, 38010 Celaya, GTO, México |
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| Abstract: | In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method. |
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| Keywords: | Algorithm 795: PHCpack Homotopy General parallel manipulator Forward kinematics |
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