The Direct Position Problem for l-Coordinate Mechanisms of Various Types

Abstract

In this paper we consider an algorithm for solving the direct position problem for spatial mechanisms of a parallel structure with six linear drives. The direct problem is solved analytically or iteratively–numerically depending on the structural scheme of the l-coordinate mechanism. The analytical solution is based on a mathematical model of a system of three equations of lines passing through a single point. The problem of transitting from the point coordinates of the mechanism output chain to its absolute coordinates is solved. An example of solving the problem is given.