查看文章

This paper presents a systematic approach to formulate a closed-form solution of the forward displacement analysis for a Schönflies parallel manipulator. The effectiveness of the method relies upon the solution of only one polynomial equation in terms of just one of the involved variables. Once the roots of this polynomial are found, the remaining variables are readily determined from backward substitution. In addition, the proposed method works equally well for general geometries and for special geometries of the mobile platform and fixed platform of the manipulator. Finally, a fully detailed case study is reported.