Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
838963 | Nonlinear Analysis: Real World Applications | 2009 | 8 Pages |
Abstract
For most parallel manipulators, the inverse kinematics is straightforward, while the direct kinematics is challenging. The latter requires the solution of a system of nonlinear equations. In this paper we use the homotopy continuation method to solve the forward and inverse kinematic problems of an offset 3-UPU translational parallel manipulator. The homotopy continuation method is a novel method which alleviates drawbacks of the traditional numerical techniques, namely; the acquirement of good initial guess values, the problem of convergence and computing time. The direct kinematics problem of the manipulator leads to 16 real solutions.
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Authors
S.M. Varedi, H.M. Daniali, D.D. Ganji,