A closed-form solution to the forward displacement analysis of a Schönflies parallel manipulator

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• 作者：J. Jesús Cervantes-Sánchez…
• 关键词：Closed ; form solution ; Forward displacement analysis ; Schönflies parallel manipulator
• 刊名：Journal of the Brazilian Society of Mechanical Sciences and Engineering
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：39
• 期：2
• 页码：553-563
• 全文大小：
• 刊物主题：Mechanical Engineering;
• 出版者：Springer Berlin Heidelberg
• ISSN：1806-3691
• 卷排序：39

文摘

This paper presents a systematic approach to formulate a closed-form solution of the forward displacement analysis for a Schönflies parallel manipulator. The effectiveness of the method relies upon the solution of only one polynomial equation in terms of just one of the involved variables. Once the roots of this polynomial are found, the remaining variables are readily determined from backward substitution. In addition, the proposed method works equally well for general geometries and for special geometries of the mobile platform and fixed platform of the manipulator. Finally, a fully detailed case study is reported.