![]() ![]() The auxiliary sensors approach has practical limitations, such as cost and measurement errors. Numerical iteration is usually sensitive to the choice of initial values and nature of the resulting constraint equations. Use of iterative numerical procedures ( Merlet, 2007), ( Wang, 2007) and auxiliary sensors ( Baronet et al., 2000) are the two commonly adopted schemes to further lead to a unique solution. Further schemes are needed to find a unique actual position of the platform among all the possible solutions. ![]() The FKP is not fully solved just by finding all the possible solutions. Then, methods such as interval analysis Merlet, 2004), algebraic elimination ( Lee, 2002), Groebner basis approach Merlet, 2004) and continuation ( Raghavan, 1991) are used to find the roots of the polynomials or to solve nonlinear equations. Traditional methods to solve FKP of parallel robots have focused on using algebraic formulations to generate a high degree polynomial or a set of nonlinear equations. FKP involves a system of nonlinear equations that usually has no closed form solution ( Merlet, 2001). In parallel robots unlike serial robots, solution to IKP is usually straightforward but their FKP is complicated. Similar to serial robots, kinematic analysis of parallel manipulators contains two problems: forward kinematics problem (FKP) and inverse kinematics problem (IKP). Actuation takes place through m simple actuators, (see Fig. Therefore, parallel manipulators are the best alternative of serial robots for tasks that require high load capacity in a limited workspace.Ī parallel robot is made up of an end-effector that is placed on a mobile platform, with n degrees of freedom, and a fixed base linked together by at least two independent kinematic chains ( Tsai, 1999). However, parallel manipulators are structurally more complex, and also require a more complicated control scheme in addition, they have a limited workspace in compare to serial robots. Parallel manipulators have received increasing attention because of their high stiffness, high speed, high accuracy and high carrying capability ( Merlet, 2002). Then, other types of parallel robots were introduced ( Merlet, 1996). Stewart constructed a flight simulator based on his parallel design ( Stewart, 1965). The idea of designing parallel robots started in 1947 when D. Review of forward kinematics problem of parallel robot ![]()
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