New Forward Kinematic Model of Parallel Robot Par4

  • Sonda Abid M’hiri
  • Neila Mezghani Ben Romdhane
  • Tarak Damak


Modeling parallel robots is a famous problem of research especially the Forward Kinematic Model (FKM). It is very difficult to solve it compared to serial manipulators and it is also hard to obtain its analytic solution. Most researchers have resorted to the numerical methods. But, these have a lot of problems : the divergence caused by the bad choice of the initial condition and providing more than one feasible solution. To solve these problems, an analytical method is proposed in this article. In this paper, the FKM of the parallel robot Par4 is determined using the Modified Denavit Hartenberg Method (MDHM). This method facilitates greatly the forward kinematic problem of parallel robot. The MDHM is powerful, useful and can be easily used for the closed loop robots. It is very accurate and provides a unique solution. In the best of our knowledge, the MDHM isn’t applied to the parallel robot Par4 to give a relationship between its operational and articular variables. After a short presentation of the robot Par4, the FKM is determined using the MDHM method. The results of this method will be compared to the existing numerical method like the iterative Newton method (INM).


Modified Denavit Hartenberg method Geometric modeling Parallel robot Par4 Iterative Newton method 


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© Springer Nature B.V. 2018

Authors and Affiliations

  1. 1.Laboratory of Sciences and Techniques of Automatic and Industrial Data National School of EngineeringSfaxTunisia
  2. 2.Laboratory of Sciences and Techniques of Automatic and Industrial Data High Institute of Industrials systemsGabesTunisia

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