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RESEARCH PAPERS

Forward Kinematics of Nonpolyhedral Parallel Manipulators

[+] Author and Article Information
Jean-Pierre Merlet

INRIA, Centre de Sophia Antipolis, 2004 Route des Lucioles, 06560 Valbonne, France

J. Mech. Des 115(4), 938-940 (Dec 01, 1993) (3 pages) doi:10.1115/1.2919290 History: Received May 01, 1990; Revised January 01, 1992; Online June 02, 2008

Abstract

Forward kinematics has been studied for polyhedral parallel manipulators. We present here an algorithm for the forward kinematic of nonpolyhedral manipulators the plates of which have a symmetry axis. We show that there will be at most 352 possible solutions and exhibit a configuration with eight solutions.

Copyright © 1993 by The American Society of Mechanical Engineers
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