Forward Position Kinematics of a Parallel Manipulator with New Architecture

The forward position kinematics (FPK) of a parallel manipulator with new architecture supposed to be used as a moving mechanism in a flight simulator project is discussed in this paper. The closed form solution for the FPK problem of the manipulator is first determined. It has, then, been shown that there are at most ۲۴ solutions for FPK problem. This result has been verified by using other techniques such as geometric approach and a numerical method known as polynomial continuation. Numerical examples are performed to display all possible solutions available for the devised manipulator.

Keywords:

Parallel Manipulator , Robot Kinematics , Closed Form Solution , Polynomial Continuation