Forward kinematics for Hunt–Primrose parallel manipulators

Abstract

This paper gives closed-form solutions (requiring linear and quadratic equations only) for the forward displacement and velocity kinematics of two parallel kinematic chain designs presented by Hunt and Primrose in 1993, [4]. The solutions rely on a simple geometric algorithm that finds the top of a tetrahedron if the base triangle and the lengths of all of its sides are known. The forward kinematics has eight configurations.