A numerical algorithm for solving displacement kinematics of parallel manipulators

This paper presents a numerical algorithm to solve the inverse and forward displacement problems with preferred and practical configurations. The proposed algorithm is adaptable for different accuracies and is defined by the geometrical characteristics of the manipulator. To verify the capabilities of the algorithm, it is used to solve the inverse and forward displacement problems for the 3-P_RS and then for the 3-R_RRR manipulators. Inverse and forward displacement solutions for the 3-P_RS are compared to closed-form and Bezout's elimination method respectively.