Kinematic analysis on a take-and-place parallel mechanism

A take-and-place mechiansm is presented here. A study on kinematic problems of the mechanism is put forward and the inverse and direct solutions are obtained; the direct kinematic´s resultant equation is an 8th order polynomial. Unique solution of the inverse kinematic problem is achieved, and then a numerical example is brought forward to verify forward and inverse kinematic analysis, in all of the results one of the forward solutions is corresponding to the inverse solution. When input parameters are determined, upper part of the mechanism is fixed; different poses are caused by different limbs´ length. Because of actual mechanism´s dimension limitation, real solutions of equations set may not be reachable.