Abstract
This paper presents a simple and effective closed-form method for solving direct kinematics of parallel mechanism (PM) based on ordered single-open-chain units (SOCs). The method includes two steps. The first step is to establish the kinematic constraint equations that contain the least virtual variables of a PM, by using the modelling principle based on ordered SOCs. The second step is to derive and solve a nonlinear equation with one unknown from the constraint position equations by means of the software Mathematica. The method is applicable for direct kinematics of various complex planar and spatial PMs.
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Acknowledgments
This research was possible thanks to support from the NSFC (No. 51475050 and 51375062). The first author thanks Prof. Federico Thomas and Prof. Andres. Kecskemethy for their useful discussions.
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Shen, H., Xu, K., Wu, G., Yang, Tl. (2019). A Simple and General Closed-Form Method for Direct Kinematics of Mechanism Based on SOC Modeling. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_2
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DOI: https://doi.org/10.1007/978-3-030-00365-4_2
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