Affiliation:
1. Department of Engineering Sciences, University of Modena and Reggio Emilia, Via Vignolese, 905-41100 Modena, Italy
Abstract
The paper presents a new algorithm to solve, in polynomial form, the forward kinematics of the general-geometry 6-6 fully-parallel manipulator. The forty solutions that the problem at hand admits in the complex domain are found by determining the roots of a 40th-order univariate polynomial equation. Unlike the existing algorithm, the proposed one is suitable for implementation in a standard floating-point computation environment. A numerical example shows application of the new algorithm to a case study.
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
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