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The Kinematics of Double-Triangular Parallel Manipulators

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.

Thierry Baron
Mon Nov 13 10:43:02 EST 1995