Closed-Form Forward Displacement Analysis of the 4–5 In-Parallel Platforms

In this paper, we study a class of in-parallel platforms whose six legs are connected either singly or in a pair-wise fashion at the vertices of a quadrilateral top platform and a pentagonal base. A forward displacement analysis in closed-form is performed for each distinct case and polynomials ranging from 16th degree to 32nd degree are derived and verified numerically.