Analytical Solution of the Forward Displacement Problem for Spherical Parallel Manipulators

摘要

In this paper, an analytical method that solves the forward displacementproblem of several common spherical parallel manipulators (SPMs) is presented.The method uses the the quaternion algebra to restate the problem as a systemof four quadrics in four variables and uses an algebraic geometry result byDixon from 1908 to solve. In addition, a case study is presented for a specificSPM.