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A New General-Purpose Method to Solve the Forward Position Problem in Parallel Manipulators

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Abstract:

The method presented in this paper is a new approach to solve the forward position problem in parallel manipulators. Mechanisms are modeled as a set of nodes related by geometrical constraints. These form a system of equations that is solved using an iterative process. The procedure is systematic and is integrated in a software package for the analysis and simulation of mechanisms. Its high computational efficiency gives it the potential to be implemented in a velocity control scheme.

Keywords: FORWARD KINEMATICS; GEOMETRICAL CONSTRAINT; ITERATIVE SOLVING; NODAL COORDINATES; PARALLEL MANIPULATOR

Document Type: Research Article

DOI: https://doi.org/10.1163/156855308X294653

Affiliations: 1: Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, 48013 Bilbao, Spain;, Email: victor.petuya@ehu.es 2: Department of Mechanical Engineering, University of the Basque Country, Alameda de Urquijo s/n, 48013 Bilbao, Spain

Publication date: 2008-04-01

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