Seibel, ArthurArthurSeibelSchulz, StefanStefanSchulzSchlattmann, JosefJosefSchlattmann2018-05-112018-05-112018-03-12Arthur Seibel, Stefan Schulz, and Josef Schlattmann, “On the Direct Kinematics Problem of Parallel Mechanisms,” Journal of Robotics, vol. 2018, Article ID 2412608, 9 pages, 2018. doi:10.1155/2018/2412608http://tubdok.tub.tuhh.de/handle/11420/1642The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators’ lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.The direct kinematics problem of parallel mechanisms, that is, determining the pose of the manipulator platform from the linear actuators’ lengths, is, in general, uniquely not solvable. For this reason, instead of measuring the lengths of the linear actuators, we propose measuring their orientations and, in most cases, also the orientation of the manipulator platform. This allows the design of a low-cost sensor system for parallel mechanisms that completely renounces length measurements and provides a unique solution of their direct kinematics.en1687-96192018Article ID 24126089 SeitenHindawi Publishing Corporationhttps://creativecommons.org/licenses/by/4.0/kinematics problemIngenieurwissenschaftenJournal Article2018-04-26Copyright © 2018 Arthur Seibel et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.urn:nbn:de:gbv:830-882.0469310.15480/882.163911420/164210.1155/2018/241260810.15480/882.1639Other