A New Theoretical Method for Solving Forward Kinematics of the Parallel Mechanisms Based on Transfer Matrix

Algorithm 1

Calculate the orientation workspace of the flexible four-bar mechanism.

Input: The change value of the mobile pair in each branch chain

Output: The state vector of the mechanism-driven platform

1 Set A=1, =0.0001; F=0

2 for Min Max (start length to to end length)

3 for Min Max (start length to to end length)

4  for Min Max (start length to to end length)

5   Build a mathematical model of the organization ((1)–(18))

6   if hinge angle

7    Output the state vector of the moving platform to the aggregate

8   end

9  end

10 end

11 end

12 Plot the state vectors satisfying the condition in space