Analysis of the Direct Kinematic Problem in 3-DOF Parallel Manipulators

In this paper, the authors will show a methodology for computing the configuration space with one constant input, basing on the principles of the discretization methods. Taking chance of an entity called the reduced configuration space, the Direct Kinematic Problem will be solved. Moreover, this entity allows the transition between different solutions to be performed, with the purpose of enlarging the range of motion of the manipulator.