Abstract
In this article we address the problem of the direct kinematics of parallel manipulators and the corollary problem of their assembly modes (i.e., the different ways of assembling these mechanisms when their geometry are fixed). As an example we consider first a 6-DOF manipulator with a trianglular mobile plate and variable links lengths. A geometric proof is presented to show that the number of assembly modes is at most 16. Then we show that solving the direct kinematics problem is equivalent to solve a l6th-order polynomial in one variable, which is presented. We exhibit one example for which there are effectively 16 assembly modes. We extend then the results of this example to various architec tures of parallel manipulators with a triangular mobile plate (among them the famous Stewart platform). Unfortunately the method used in those cases cannot be extended to the most general parallel manipulators. We introduce a more general approach and present the results of this method on a particular case.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
