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An approach to solving the forward kinematics of the 5-RPUR (3T2R) parallel manipulator
Jaime Gallardo-Alvarado,Mario A. Garcia-Murillo,Luis D. Aguilera-Camacho,Luis A. Alcaraz-Caracheo,X. Yamile Sandoval-Castro 대한기계학회 2023 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.37 No.3
This work is devoted to simplifying the formulation and solution of the closure equations associated with the forward kinematic problem (FKP) of the 5-RPUR parallel manipulator, a limited-DOF robot able to perform 3T2R motion. The analysis yields a set of eighteen nonlinear equations that are solved numerically through a combination of the homotopy continuation method and the usual Newton-Raphson technique. Unlike existing methods, the proposed approach is easy to follow and can be easily translated into computer codes. Numerical examples are provided with the aim to illustrate the potential and correctness of the proposed method.