A Parallel Manipulator with Planar Configurable Platform and Three End-Effectors

Table 1

One solution of the forward displacement problem using the Newton homotopy method.

Iter
1	−9322.783	100.0	−8.0	−50.0	40.0	−200.00	60.0	−50.0	60.0	60.0	−10.0	−100.0	−20.0
2	2211.322	56.271	9.295	−97.730	53.080	−256.512	74.713	−96.179	81.528	52.003	10.100	−103.998	−58.868
3	455.409	71.083	−6.067	−79.658	48.798	−239.373	61.746	−79.256	62.425	68.396	0.121	−84.390	−50.793
4	14.890	74.076	−8.503	−75.710	47.772	−235.378	58.336	−75.371	57.045	72.704	−3.587	−80.502	−49.942
5	0.005	74.058	−8.429	−75.728	47.818	−235.376	58.423	−75.383	56.929	72.698	−3.664	−80.457	−49.958
6	−0.2e − 6	74.058	−8.430	−75.728	47.817	−235.376	58.422	−75.383	56.929	72.698	−3.665	−80.457	−49.958

In only six iterations, the algorithm was able to converge to one real solution.