A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator

• A simple approach to solve the displacement analysis of the hexapod is applied.
• Closure equations are easily derived without the rotation matrix.
• The Algorithm 795:PHCpack is used to compute 40 solutions.
• Numerical examples confirm the efficacy of the method.

In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method.