In this paper the direct position kinematics and the direct instantaneous kinematics of a 3-DOF spatial parallel manipulator with flexible legs are analyzed. Finite elements are used for the discretization of the flexible legs. The solution method for direct kinematics is based on the position vectors and velocities of the three non-collinear points on the rigid moving platform. To show the effect of flexible legs on the solution, an illustrative numerical example is solved for two cases, one with rigid legs and one with flexible legs.

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