A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix
Jin Wang,
Zijian Jing,
Junli Guo
et al.
Abstract:The flexible parallel mechanism is widely utilized in precision instruments, thanks to its numerous advantages, such as high precision, frictionless operation, and seamless movements. The establishment of the motion equations for this mechanism is crucial for designing, analyzing, controlling, and simulating parallel mechanisms. While the existing inverse kinematics solution theory is comprehensive, developing a forward solution model is challenging due to the nonlinear nature of the attitude equation. To addr… Show more
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