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


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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