Research Article

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

Table 2

Resulting coordinates of points .

Sol. mm mm mm mm mm mm

1(74.058, −8.430)(−75.728, 47.817)(−235.376, 58.422)(−75.383, 56.929)(72.698, −3.665)(−80.457, −49.958)
2(31.597, 79.151)(−128.400, 79.584)(−278.730, 134.370)(−124.100, 93.278)(−228.330, −28.109)(−69.236, −49.958)
3(91.481, −28.647)(−53.377, 39.295)(106.510, 33.279)(−53.490, 32.695)(96.717, −22.424)(216.490, −128.510)
4(69.536, 2.353)(−81.500, 50.447)(72.909, 8.523)(−78.593, 59.973)(69.202, −1.319)(−82.860, −51.093)
5(63.650, 6.204)(−88.999, 54.144)(62.432, 2.486)(−3.693, −143.210)(65.586, 1.013)(−85.281, −52.270)
6(108.850, −44.963)(187.210, 94.533)(58.015, 0.146)(−4.196, −147.260)(113.930, −39.351)(229.890, −149.600)
7(159.250, −77.899)(39.532, 28.254)(−113.440, −18.644)(−2.830, −134.250)(152.360, −95.323)(7.255, −27.912)
8(56.314, 18.128)(−98.323, 59.208)(−255.940, 86.691)(−96.374, 74.982)(49.893, 10.129)(177.820, −85.970)
9(161.110, −78.796)(42.413, 28.496)(−110.230, −19.469)(−3.186, −138.39)(148.82, −88.449)(253.680, −209.290)
10(108.630, −44.783)(187.250, 94.572)(58.064, 0.171)(−4.190, −147.220)(108.680, −33.818)(−51.247, −38.613)
11(98.320, −35.465)(189.05, 96.323)(60.294, 1.338)(−−85.853, 66.461)(−220.09, −20.606)(−61.542, −42.114)
12(61.143, 10.108)(193.18, 100.481)(65.430, 4.142)(−82.972, 63.949)(64.437, 1.735)(−86.038, −52.645)
13(65.493, 3.4396)(192.91, 100.212)(65.101, 3.957)(−83.159, 64.115)(64.234, 1.862)(189.90, −97.167)
14(113.58, −48.889)(−24.545, 31.859)(−183.36, 12.458)(−305.54, 115.761)(−203.17, −7.198)(−45.974, −37.018)
15(66.804, 1.520)(−84.983, 52.124)(68.128, 5.680)(−81.420, 62.562)(66.125, 0.670)(191.49, −98.751)
16(31.302, 80.331)(−128.70, 79.819)(−5.2725, −21.997)(−119.14, 90.402)(−227.50, −27.320)(−68.456, −44.763)
17(63.956, 5.740)(−88.610, 53.944)(62.993, 2.791)(−3.6328, −142.68)(61.972, 3.254)(188.01, −95.307)
18(27.358, 99.685)(187.28, 94.599)(58.100, 0.189)(−4.186, −147.191)(107.43, −32.547)(−52.444, −38.993)
19(53.904, 22.413)(193.42, 100.731)(65.739, 4.315)(−3.3453, −140.001)(45.740, 12.284)(174.29, −82.978)
20(29.191, 89.673)(189.05, 96.326)(60.298, 1.340)(−85.851, 66.459)(−220.09, −20.605)(−61.541, −42.113)
21(46.406, 37.274)(193.33, 100.631)(65.617, 4.247)(−82.865, 63.854)(64.553, 1.662)(−85.962, −52.607)
22(91.086, −28.237)(−53.887, 39.461)(−213.85, 36.073)(−53.877, 33.186)(96.289, −22.044)(216.151, −128.03)

The method employed in the contribution yields 22 real solutions for the forward position analysis.