Article ID Journal Published Year Pages File Type
774423 European Journal of Mechanics - A/Solids 2010 8 Pages PDF
Abstract

In this paper, we introduce a new approach for forward position analysis of a double-triangle (DT) spherical parallel manipulator. Utilizing spherical geometry of the manipulator, two coupled trigonometric equations are obtained through using special form of Rodrigues formula. Next, the two coupled equations are solved using Bezout's elimination method which leads to a polynomial of eight degree. Finally, we provide an example having eight real solutions, the polynomial thus being minimal.

Related Topics
Physical Sciences and Engineering Engineering Mechanical Engineering
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