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Kinematics of an offset 3-UPU translational parallel manipulator by the homotopy continuation method

✍ Scribed by S.M. Varedi; H.M. Daniali; D.D. Ganji

Publisher: Elsevier Science
Year: 2009
Tongue: English
Weight: 572 KB
Volume: 10
Category: Article
ISSN: 1468-1218
DOI: 10.1016/j.nonrwa.2008.02.014

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✦ Synopsis

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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