Mechanical Engineering Commons^™

General Parallel-Leg Mechanism : Position Analysis, Hans Buus Gangwar

Theses

This thesis proposes to analytically express the positions of the legs (each leg has a length and two spin orientations) for a parallel leg mechanism in terms of a single variable. The only limitations imposed are the leg bases are all on the same reference plane and the tool orientation is normal to the mobile upper plate. This is done for a parallel leg mechanism having any number of legs. The variable chosen is the first leg's vertex position on the upper plate.

The state space is the space the configuration can occupy. By looking at a planar slice of …