Position Analysis of a 1T3R Parallel Stable Platform

lifeng fang, Anxin Liu, Jie Zhang

Abstract


Based on POC set theory and SOC unit, a 1T3R parallel stable platform is proposed. Both inverse and direct kinematics and Jacobean matrix of this mechanism are made and an example is given. By using of Homotopy Continuation, the real solutions of the mechanism are found. This mechanism is simple in structure and can be used as parallel stable platform’s basic structure.

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