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Journal of Robotics
Volume 2018, Article ID 2412608, 9 pages
Research Article

On the Direct Kinematics Problem of Parallel Mechanisms

Workgroup on System Technologies and Engineering Design Methodology, Hamburg University of Technology, 21073 Hamburg, Germany

Correspondence should be addressed to Arthur Seibel; ed.hhut@lebies.ruhtra

Received 26 October 2017; Revised 1 January 2018; Accepted 9 January 2018; Published 12 March 2018

Academic Editor: Gordon R. Pennock

Copyright © 2018 Arthur Seibel et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators’ lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.