Solving the Forward Kinematics of Planar Parallel Mechanisms Based on Interval Analysis and Mean-Value Form

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Authors

Department of Mechanical Engineering., Hamedan University of Technology, Hamedan, Iran

10.22044/jsfm.2026.16541.3999

Abstract

In this paper , a new method is presented for analyzing the forward kinematics problem of planar parallel mechanisms based on a combination of interval analysis and a refinement process. In the first step , the kinematic equations of each chain of parallel mechanism are derived by applying the relevant kinematic constraints. Then , the forward kinematics problem is solved with the desired accuracy using a combination of interval analysis and mean-value form. For validation purposes , the results of the proposed method are compared with those obtained from the resultant method. The implementation of the proposed approach on a 3- RRR planar parallel mechanism demonstrates its capability to accurately estimate the position and orientation of the moving platform. The main advantage of this method is its high accuracy with reasonable computational efficiency , which makes it a promising option for solving the forward kinematics problem of planar parallel mechanisms.

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Main Subjects

Journal of Solid and Fluid Mechanics

Articles in Press, Accepted Manuscript
Available Online from 03 May 2026

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