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RESEARCH PAPERS

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

Abstract

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
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