Computer simulation of kinematics of parallel mechanisms

Abstract

The paper deals with the kinematic analysis of a planar parallel mechanism. The use of parallel mechanisms makes the tasks of controlling the arms on the basis of these mechanisms difficult, since the solutions of the problems of kinematics and the dynamics of mechanisms are complicated. This leads to more complex control systems for such machines. Therefore, it becomes important to develop appropriate templates for solving certain problems of kinematics and dynamics for certain types of parallel mechanisms. In this paper, a planar parallel mechanism in the form of a tripod with three rotational pairs in each leg is considered.