A novel approach for forward position analysis of a double-triangle spherical parallel manipulator

In this paper, we introduce a new approach for forward position analysis of a double-triangle (DT) spherical parallel manipulator. Utilizing spherical geometry of the manipulator, two coupled trigonometric equations are obtained through using special form of Rodrigues formula. Next, the two coupled equations are solved using Bezoutʹs elimination method which leads to a polynomial of eight degree. Finally, we provide an example having eight real solutions, the polynomial thus being minimal.