scientific article; zbMATH DE number 1004900

Symbolic computation and algebraic computation (68W30) Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15)

Review text

Platform-type parallel manipulators are multibody systems comprising a movable platform connected to a base platform by several kinematic subchains leading to an architecture with multiple kinematic loops. The direct kinematic problem can be stated as follows: Given the lengths of six legs, determine the corresponding orientation and position of the movable platform. The direct kinematic problem for these manipulators is, in general, more challenging than the inverse problem, because of the nonlinearities involved. All methods presented in the literature for the direct kinematic analysis of general platform-type parallel manipulators are essentially numerical, and only a few aim at finding all possible solutions. In this paper the authors introduce a comprehensive semigraphical method for solving the direct kinematics of general platform manipulators. The equations are reduced to two bivariate equations. By using the first equation and perturbing the second equation, three contours in the plane of the two unknown angles are found. The superimposed plots of contours yield all real solutions. A numerical example is included that admits two real solutions. The paper is a nice contribution to the kinematics of movable platforms. For the entire collection see [Zbl 0832.00054].

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