Modular Method for Kinematic Analysis of Parallel Manipulators Based on Ordered SOCs Available to Purchase

Based on the new viewpoint of structural decomposion that any multi-loop mechanism are made up of by a series of ordered single opened chains(SOCs), a new method for kinematic analysis of parallel manipulators, i.e, the SOCs modular method has been presented in the paper. The new method has the following features: (1) The dimensions of sets of the nonlinear kinematic analysis equations are reduced to the minimum, and the kinematic analysis equation often contains only one unknown variable for most parallel manipulators generally applied now. Accordingly, all the real solutions to forward kinematics problem of parallel mechanisms can be easily obtained by using one-dimension searching algorithm; (2) Compared with algebraic method, it has evidently reduced the difficulty of deducing formulas; (3) Compared with homotopy continuation method, it has higher computing efficiency.