Abstract
The analytical form solution of direct position analysis of the fully parallel mechanism denoted as reverse Stewart platform mechanism is presented. The mechanism, when a set of actuator displacements is given, becomes a statically determined structure and can be assembled in many different configurations. The procedure presented in the paper models the kinematics of the mechanism by three non-linear equations in three unknowns and, after a suitable elimination of two unwanted unknowns, leads to one final algebraic equation of sixteenth order in only one unknown. As a result the mechanism, when input is given, can be assembled in sixteen configurations in the complex field. Numerical examples confirm the new theoretical result.
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