Kinematics analysis of a novel over-constrained parallel manipulator

In this paper, a novel over-constrained parallel manipulator with three degree-of-freedom (DOF) is presented. Closed-form solutions are developed for both the inverse and forward kinematics of the mechanism. For the inverse kinematics, four possible solutions are determined. For the forward kinematics, a twenty-four order polynomial equation has been derived to determine all possible poses for the mechanism. The complete sets of solutions for the inverse and forward position analyses of the mechanism have been achieved. An example is given to illustrate the effectiveness of this approach.