Forward displacement analysis of a six-dof parallel manipulator actuated by 3R3P and 4R2P chains

This paper addresses the forward displacement analysis of a six-degree of freedom platform manipulator, which is actuated by four different configurations involving six chains with six joints in each chain. The displacement analysis problem involves finding all possible positions and orientations of the platform along with all the joint variables in response to the inputs supplied. The forward displacement analysis problem is solved using the “Suppressed Tangent method.” The proposed solution procedure is illustrated through three numerical examples. The first example deals with forward displacement analysis of a platform manipulator actuated by six 3R3P chains, whereas the second and third examples deal with a manipulator actuated by five 3R3P and one 4R2P chains, and four 3R3P and two 4R2P chains, respectively. For the fourth case addressing a manipulator with three 3R3P and three 4R2P chains, a numerical solution could not be obtained due to computational limitations.