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Closed-form forward position kinematics for a (3-1-1-1)2 fully parallel manipulator

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1 Author(s)
H. Bruyninckx ; Dept. of Mech. Eng., Katholieke Univ., Leuven, Heverlee, Belgium

This paper derives closed-form equations to solve the forward position kinematics of fully parallel manipulators with a 3-1-1-1 architecture on both the (planar) base and top platforms; the tetrahedrons emerging from the base and top platforms must have one leg in common. The closed-form solutions allow real-time execution on standard computer hardware: since only a few linear and quadratic equations have to be solved, all eight configurations can be found within milliseconds

Published in:

IEEE Transactions on Robotics and Automation  (Volume:14 ,  Issue: 2 )