The forward displacement analysis of a kind of special platform manipulator mechanisms

Abstract The forward displacement analysis of a kind of special platform manipulator mechanisms is presented. To these mechanisms, there is a joint center on each vertex of two triangle platforms called base and top, and the other joint centers are on the edges of these triangles. Two algebraic equations of degree 24 and 40 in one unknown are obtained. Hence the maximum real assembly configurations of these mechanisms are 24 and 40 respectively. Numerical examples confirm these theoretical results. The symbolic computation is carried out by computer algebra system MUMATH.