Direct Kinematics of a 6-PUS Parallel Robot Using a Numeric-Geometric Method

摘要

A numerical method to solve the direct kinematics of the 6-PUS parallel robot is presented. This method is based on a simplified geometry of the robot, in such a way that each pair of limbs forms a triangle, the locus of the top vertex of this triangle is an arc. Results of the implementation of the algorithm are presented.