Closed-Form Direct Position Analysis of a 5–5 Parallel Mechanism

[+] Author and Article Information
C. Innocenti, V. Parenti-Castelli

Dipartimento di Ingegneria delle costruzioni meccaniche, nucleari, aeronautiche e di Metallurgia, Università di Bologna, Viale Risorgimento, 2, 40136 Bologna, Italy

J. Mech. Des 115(3), 515-521 (Sep 01, 1993) (7 pages) doi:10.1115/1.2919220 History: Received September 01, 1990; Revised June 01, 1991; Online June 02, 2008


The paper presents the closed form direct displacement analysis for a class of Stewart platform-type parallel mechanisms whose general feature consists of six legs which meet five distinct points both in the base and in the movable output link. Out of the two possible arrangements, only one is here analyzed in detail. Given a set of actuator displacements the analysis provides all the possible locations of the platform relative to the base. The analysis results in a 40th degree polynomial equation in one unknown. The roots of the equation provide in the complex field forty closures of the mechanism. This new result has been numerically verified by the inverse displacement analysis.

Copyright © 1993 by The American Society of Mechanical Engineers
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