Singular configurations and direct kinematics of a new parallel manipulator

  title={Singular configurations and direct kinematics of a new parallel manipulator},
  author={Nicolas Mouly and Jean-Pierre Merlet},
We present in this paper a new mechanical architecture for a parallel manipulator. We address the problem of the determination of the singular configurations of this architecture. Then we show that the direct kinematic problem has at most 16 solutions and exhibit an algorithm to find all the solutions. 
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