Direct Kinematics in Analytical Form of the 6-4 Fully-Parallel Mechanism

[+] Author and Article Information
C. Innocenti

Dipartimento di Ingegneria delle Costruzioni Meccaniche, University of Bologna, Viale Risorgimento, 2-40136, Bologna, Italy

J. Mech. Des 117(1), 89-95 (Mar 01, 1995) (7 pages) doi:10.1115/1.2826122 History: Received September 01, 1992; Revised June 01, 1994; Online January 25, 2008


This paper presents the direct position analysis of the fully-parallel mechanism that features six connection points on the base and four on the platform. The shape of both base and platform is general and, in particular, not restricted to being planar. The analysis is performed first by writing a suitable set of five closure equations in five unknowns. Then, by a specifically-developed elimination scheme, the closure equation set is reduced to a 32nd-order algebraic equation with only one unknown, which proves free from extraneous roots. Hence 32 closure configurations of the 6-4 mechanism do exist in the complex field. A numerical example is reported that confirms the new theoretical results.

Copyright © 1995 by The American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In