Planar, spherical and spatial versions of a new class of parallel manipulators
have been designed to overcome certain disadvantages of serial architectures.
They consist of respective intersecting pairs of planar, spherical
and spatial triangles wherein one member of a pair is moved
via three actuators. The * Direct kinematic* (DK) analysis involves
determining the pose of the moving triangle for a given set of actuator
coordinates. The DK solution of planar and spherical versions
lead to quadratic and 16th degree equations, respectively.
The number of assembly modes of a spatial triangular manipulator has
yet to be established. A manipulator prototype of each version, based
on concepts shown in the following Figures, will be constructed.

H.R. Mohammadi Daniali, P. Zsombor-Murray, J. Angeles

A planar double-triangular manipulator.

A spatial double-triangular manipulator.

Mon Nov 13 10:43:02 EST 1995