Abstract
This chapter shows both inverse and direct position analyses of several typical parallel mechanisms including a planar 5R type, a 2-DOF spherical type, two 3-DOF types, and a 6-RUS type. Since for the parallel mechanism, it is more convenient to employ the geometric method to solve its kinematics, the position analysis established upon writing geometric constraint equations for each leg is introduced. In particular, the position analysis of 3-[PP]S type of parallel mechanism in terms of a special orientation description is presented to simplify its kinematics.
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Liu, XJ., Wang, J. (2014). Position Analysis of Parallel Mechanisms. In: Parallel Kinematics. Springer Tracts in Mechanical Engineering. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-36929-2_3
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DOI: https://doi.org/10.1007/978-3-642-36929-2_3
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Online ISBN: 978-3-642-36929-2
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