Journal of Applied Sciences ›› 1998, Vol. 16 ›› Issue (4): 392-396.

• Articles • Previous Articles     Next Articles

An Optimization Method for the Direct Position Kinematic Problem of a General Parallel Manipulator

LIU DONGSHENG, GONG ZHENBANG, WANG QINQUE   

  1. Shanghai University, Shanghai 201800
  • Received:1997-05-17 Revised:1997-10-27 Online:1998-12-31 Published:1998-12-31

Abstract: This paper deals with the direct position kinematic problem of a general pa rallel manipulator using an optimization method. Without complex formular deduction and without restricting starting -point, this method is effective to all parallel manipulators. This new theoretical result is confirmed by numerical examples.

Key words: parallel manipulator, direct position kinematic problem, optimization, multiplier