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Forward Kinematics Analysis of a 3-PRS Parallel Manipulator

Authors: Ghasem Abbasnejad, Soheil Zarkandi, Misagh Imani


In this article the homotopy continuation method (HCM) to solve the forward kinematic problem of the 3-PRS parallel manipulator is used. Since there are many difficulties in solving the system of nonlinear equations in kinematics of manipulators, the numerical solutions like Newton-Raphson are inevitably used. When dealing with any numerical solution, there are two troublesome problems. One is that good initial guesses are not easy to detect and another is related to whether the used method will converge to useful solutions. Results of this paper reveal that the homotopy continuation method can alleviate the drawbacks of traditional numerical techniques.

Keywords: Forward Kinematics, Parallel Manipulators, Homotopy continuationmethod, Rotation matrix

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