A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator

Authors:
Jaime Gallardo-Alvarado
Affiliations:
-
Venue:
Robotics and Computer-Integrated Manufacturing
Year:
2014

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Abstract

In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method.