摘要：AbstractDirect (forward) kinematic solution of the parallel robots is a challenging task for pure pose determination of the movable platform, which is crucial either in designing of the robot or its controlling. The availability of this solution is more critical especially in the case of using robot as a coordinate measuring machine (CMM). Solving direct kinematics (DK) problem of parallel robots is complicated as it is engaged with highly coupled nonlinear equations that are difficult to solve analytically to obtain exact answer. Hence in order to solve the mentioned problem, various approaches including empirical solutions e.g. using auxiliary sensors on the robot, neural network, and numerical methods are utilized. Meanwhile, numerical methods as the most cost-effective approach can acquire one unique accurate answer in a reasonable time. The aim of this article is to solve DK of a novel CMM parallel robot, which has three translational motions and a rotational around horizontal axis, using both analytical and numerical (Newton-Raphson scheme) approach along with comparing the results. After explaining the implementation procedure of methods according to the configuration of this robot, the results of simulations for both methods are presented and compared to each other. Moreover, inverse kinematics and direct kinematics are analyzed for the mentioned mechanism thoroughly. Results show that although analytical method gives more accurate answer especially for horizontal positions, numerical method solves the problem faster and also with acceptable accuracy.
