The Effect of the Optimal Route Selection on the Forward Position Solutions of Parallel Mechanisms

摘要

The forward position solution (FPS) of a parallel mechanism (PM) can be solved according to the sub-kinematic chain (SKC) contained in the PM, and the SKC position solution can be solved based on the sequence of its loops. Therefore, when solving the position, the first loop must be correctly and orderly selected. The optimisation criterion of the first loop proposed for the FPS in this paper can make kinematics modelling and solve efficiently. A symbolic position solution of a three-translation (3T) PM is taken as an example to illustrate this criterion.