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On the determination of cusp points of 3-RPR parallel manipulators

✍ Scribed by G. Moroz; F. Rouiller; D. Chablat; P. Wenger

Publisher
Elsevier Science
Year
2010
Tongue
English
Weight
915 KB
Volume
45
Category
Article
ISSN
0094-114X

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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