Closed-form direct position kinematics solution for a 3-RSR platform manipulator

This paper presents a novel pose description corresponding to the structure characteristics of parallel manipulators, which is convenient and intuitionistic to us. A class of 3-RSR parallel manipulator is considered here. Through analysis on geometry theory, we obtain a new method of the closed-form solution to the forward kinematics using Mathematica. The dosed-form solution contains two different meanings -analytical and real-time. So we reach the goal of practical application and control. A numerical example is also presented and the results are verified by an inverse kinematics analysis, It shows that the method has a practical value for realtime control.