Displacement analysis of a Thrin Platform parallel manipulator
In this paper an original algorithm for displacement analysis of a Turin Platform parallel manipulator is proposed as an easy practical formulation. A specific model is formulated by using the peculiar geometry of the parallel chain and the kinematics of the articulated double-parallelograms. The analytical algorithm has also been proposed and investigated with the aim to provide a closed-form formulation for both direct and inverse kinematic problems. Some numerical examples are reported to prove the soundness of the formulation and to illustrate the kinematic peculiarities of the Turin Platform parallel manipulator.
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Document Type: Research Article
Affiliations: Department of Industrial Engineering, University of Cassino, 03043 Cassino (Fr), Italy
Publication date: 1996-01-01