Closed-Form Forward Displacement Analysis of the 4–5 In-Parallel Platforms

[+] Author and Article Information
Wei Lin

GINTIC Institute of Manufacturing Technology, Nanyang Technological University, Singapore 2263

C. D. Crane, J. Duffy

Center for Intelligent Machines and Robotics, University of Florida, Gainesville, FL 32611

J. Mech. Des 116(1), 47-53 (Mar 01, 1994) (7 pages) doi:10.1115/1.2919375 History: Received May 01, 1992; Online June 02, 2008


In this paper, we study a class of in-parallel platforms whose six legs are connected either singly or in a pair-wise fashion at the vertices of a quadrilateral top platform and a pentagonal base. A forward displacement analysis in closed-form is performed for each distinct case and polynomials ranging from 16th degree to 32nd degree are derived and verified numerically.

Copyright © 1994 by The American Society of Mechanical Engineers
Topics: Displacement
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