Geometric modeling of the parallel robot Par4 using the modified Denavit Hartenberg method

Abstract

The modeling of a parallel robot is a famous problem of research especially the forward kinematic model (FKM). This model is very difficult to solve in comparison to the serial manipulators. The problem of FKM is the almost impossibility to solve it analytically. Most researchers have resort to numerical method. But the common drawback of these methods is the convergence problem. In this paper, Modified DenavitHartenberg Method (MDHM) is used to determine the FKM of the parallel robot Par4. The Inverse Kinematic Model (IKM) of Par4, inspired from the Nabat model, is used for the verification of our work. The results show the validity of the calculated model.