Abstract
The forward analysis of a parallel planar manipulator (PPM) with two degrees of freedom is developed. The two degree of freedom PPM has been applied to an articulated mobile robot and the forward analysis is one of the tools developed to aid in the design and control of the articulated mobile robot. The forward analysis is derived from the loop closure equation for a quadrilateral applied to two quadrilaterals that make up the PPM. One side and two angles are common between the two quadrilaterals. An input-output equation is derived that generates six closures for the mechanism. The forward analysis is applied to the geometry of the PPM utilized in the articulated mobile robot, and determines four real and two imaginary closures.
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