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The analytical forward displacement kinematics of the “31-12” parallel manipulator

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

This paper presents analytical solutions for the forward displacement kinematics of the “31-12” fully parallel manipulator design. In this design, three points in the base platform are linked to one single point in the top platform, while two of the remaining top platform points are linked to a single point in the base. Neither the base nor the top platforms of the manipulator have to be planar. The forward position kinematics give eight solutions, requiring nothing more difficult than the solution of quadratic equations

Published in:

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on  (Volume:4 )

Date of Conference:

20-25 Apr 1997