ISSN 1052-6188, Journal of Machinery Manufacture and Reliability, 2019, Vol. 48, No. 5, pp. 392–400.

© Allerton Press, Inc., 2019.

Russian Text © The Author(s), 2019, published in Problemy Mashinostroeniya i Nadezhnosti Mashin, 2019, No. 5, pp. 18–26.

MECHANICS OF MACHINES

The Direct Position Problem for l-Coordinate Mechanisms

of Various Types
G. V. Rashoyana, S. M. Demidova,*, A. K. Aleshina, A. V. Antonova,
S. A. Skvortsova, and K. A. Shalyukhina
a
Blagonravov Mechanical Engineering Research Institute, Russian Academy of Sciences, Moscow, 119334 Russia
*e-mail: chipd@rambler.ru
Received March 6, 2019; revised June 25, 2019; accepted June 25, 2019

Abstract—In this paper we consider an algorithm for solving the direct position problem for spatial
mechanisms of a parallel structure with six linear drives. The direct problem is solved analytically or
iteratively–numerically depending on the structural scheme of the l-coordinate mechanism. The ana-
lytical solution is based on a mathematical model of a system of three equations of lines passing
through a single point. The problem of transitting from the point coordinates of the mechanism output
chain to its absolute coordinates is solved. An example of solving the problem is given.

Keywords: parallel structure mechanism, l-coordinate mechanism, position problem.

DOI: 10.3103/S1052618819050091

An analytical solution of the position problem is known to be an effective tool for describing the oper-
ating zone of the output chain of the parallel-structure mechanisms, studying the trajectory of intermedi-
ate chains, and assessing the functional capabilities, as well as the presence of special positions [1–14].
One type of parallel structure mechanisms is l-coordinate mechanisms (Fig. 1) consisting of six con-
necting chains with one translational drive pair and two spherical nondrive pairs connected to base 1 and
output chain 2. An analytical algorithm for solving the direct position problem is known to exist only for
some l-coordinate structural schemes.
' , YBj' , Z Bj
Let the coordinates of the points B j ( X Bj ' ) ( j = 1, 2, 3) in the fixed coordinate system O'X'Y'Z'
associated with base 1 and the coordinates of the points Pi ( X Pi , YPi , Z Pi ) (i = 1, 2, 3) in the moving coordi-

2
z P3
P1 y
0
x
P2
l1 l6
l2
l5 1
l3 l4
B1
z'
B3
0' y'
x'
B2

Fig. 1. l-Coordinate mechanism corresponding to the analytical solution of the direct position problem.

392
 THE DIRECT POSITION PROBLEM 393

nate system OXYZ associated with the mechanism output chain 2 be specified. The values of l-coordi-
nates l1, …, l6, are the lengths of segments on the output chain: lP1P2, lP2P3, lP1P3, and the lengths of segments
on the basis: lB1B2, lB2B3, lB1B3 are known. It is necessary to determine the position of the output chain 2 in
the fixed coordinate system O'X'Y'Z' .
Obviously, to determine the position of the output chain is equivalent to determine the coordinates of
the points Pi in a fixed coordinate system O'X'Y'Z' , where i = 1, 2, 3. First, we determine the position of
point B2 in the coordinate system of the mechanism output chain [14]. Let us compose a system of equa-
tions as follows:
 ( X P1 − X B 2 )2 + (YP1 − YB 2 )2 + (Z P1 − Z B 2 )2 = l32,

( X P 2 − X B 2 ) + (YP 2 − YB 2 ) + (Z P 2 − Z B 2 ) = l4 ,
2 2 2 2
(1)
( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2.
 P3 B2 P3 B2 P3 B2 5

Using the example of system (1), we will show an algorithm for solving the system of quadratic equa-
tions; the idea of the method was earlier proposed by Arzumanyan and Koliskor. For this purpose, we
expand the brackets in all three equations of the system and subtract the second and third equations from
the first equation. Then, we obtain the following relations:
X B 2( X P 2 − X P1) + YB 2(YP 2 − YP1) + Z B 2 (Z P 2 − Z P1) = t1, (2)
X B 2( X P 3 − X P1) + YB 2(YP 3 − YP1) + Z B 2 (Z P 3 − Z P1) = t2, (3)
where
l32 − l42 − K1 + K 2
t1 = ,
2
l32 − l52 − K1 + K 3
t2 = ,
2
K1 = X P21 + YP21 + Z P21,
K 2 = X P2 2 + YP22 + Z P2 2,
K 3 = X P2 3 + YP23 + Z P2 3.
We solve equations (2) and (3) with respect to variables YB 2 and X B 2 expressing them through the coor-
dinate Z B 2 . Then, we obtain
YB 2 = K 4 + K 5Z B 2, (4)
X B 2 = K 6 + K 7 Z B 2, (5)
where
t 2( X P 2 − X P1) − t1( X P 3 − X P1)
K4 = , 
(X P 2 − X P1)(YP 3 − YP1) − (YP 2 − YP1)( X P 3 − X P1)
(Z P 2 − Z P1)( X P 3 − X P1) − (Z P 3 − Z P1)( X P 2 − X P1)
K5 = ,
( X P 2 − X P1)(YP 3 − YP1) − (YP 2 − YP1)( X P 3 − X P1)
t 2 (YP 2 − YP1) − t1(YP 3 − YP1)
K6 = ,
( X P 3 − X P1)(YP 2 − YP1) − ( X P 2 − X P1)(YP 3 − YP1)
(Z P 2 − Z P1)(YP 3 − YP1) − (Z P 3 − Z P1)(YP 2 − YP1)
K7 = .
( X P 3 − X P1)(YP 2 − YP1) − ( X P 2 − X P1)(YP 3 − YP1)
Substituting (4) and (5) into the first equation of system (1), we obtain a quadratic equation for the
variable Z B 2 as follows:
a1Z B2 2 + a2 Z B 2 + a3 = 0, (6)

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394 RASHOYAN et al.

where

a1 = K 52 + K 72 + 1,
a2 = 2(− X P1K 7 + K 4 K 5 − YP1K 5 + K 6 K 7 − Z P1),

a3 = K1 + K 42 + K 62 − 2 X P1K 6 − 2YP1K 4 − l32.

Equation (6) has a solution, the roots of which take the following form:

−a2 ± a22 − 4a1a3

Z B2 = . (7)
2a1
It should be noted that expression (7) has an ambiguous solution associated with the sign in front of
the square root. To avoid ambiguity, we propose to consider one assembly of the mechanism. Substituting
the result (7) into Eqs. (4) and (5), we obtain the remaining coordinates of the point B2 .
To determine the coordinates of points B1 and B3, we compose two systems of equations, an algorithm
for solving which is analogous to (1):

( X P1 − X B1)2 + (YP1 − YB1)2 + (Z P1 − Z B1)2 = l12,


( X P 2 − X B1) + (YP 2 − YB1) + (Z P 2 − Z B1) = l2 ,
2 2 2 2

( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2 ,
 B2 B1 B2 B1 B2 B1 B 2B1

( X P 3 − X B3 )2 + (YP 3 − YB3 )2 + (Z P 3 − Z B3 )2 = l62,


( X B1 − X B3 ) + (YB1 − YB3 ) + (Z B1 − Z B3 ) = lB1B3,
2 2 2 2

( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2 .
 B2 B3 B2 B3 B2 B3 B 2B3

Then, given the coordinates of the points Pi (i = 1, 2, 3) in the moving coordinate system, you can cal-
culate the lengths of the additional segments lP1B3, lP2B3, lP3B1. As (1), this will allow determining the coor-
dinates of the points Pi in the fixed coordinate system. Thus, the direct position problem is solved.
Next, we consider the solution of the direct position problem for the l-coordinate mechanism obtained
from the initial one [8] by transferring the output chain to the region outside the drive arrangement
(Fig. 2). As before, the problem is reduced to determining the position of the mechanism output chain 2
by specified values of the l-coordinates.
We consider the positions of points B j ( X Bj ,YBj , Z Bj ) ( j = 1, 2, 3) in the fixed coordinate system OXYZ
associated with base 1, as well as the coordinates of points Pi ( X Pi ' ,YPi' , Z Pi
' ) (i = 1, 2, 3) in the moving coor-
dinate system O'X'Y'Z' associated with the mechanism output chain 2 specified. Furthermore, the values
of l-coordinates l1, …, l6, the lengths of segments on the output chain lP1P2, lP2P3, lP1P3, the lengths of seg-
ments on the base lB1B2, lB2B3, lB1B3, as well as the values of rod lengths lP1C2, lP2C3, lP1C3, are known. It is
necessary to determine the position of the output chain 2 in a fixed coordinate system OXYZ , which is
equivalent to determining the coordinates of points Pi ( X Pi , YPi , Z Pi ) in a fixed coordinate system OXYZ
associated with base 1, where i = 1, 2, 3.
To solve the problem, we consider the triangle n B2C3B3. According to the cosine theorem, the lengths
of the l5, l6, lB2B3 segments corresponding to the sides of the given triangle are related by the following
expression:

l52 + l62 − 2l5l6 cos ∠B2C3B3 = lB2 2B3,

whence we determine the cosine of the angle:

l52 + l62 − lB2 2B3

cos ∠B2C3B3 = .
2l5l6

JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY Vol. 48 No. 5 2019

 THE DIRECT POSITION PROBLEM 395

C3
C1
C2

l1 l2
l6
l3 l5 1
l4 x
B1
0 y
z B3
B2

x' 2
P3
P1 y'
0'
z'
P2

Fig. 2. Mechanism with drives located outside the operating zone.

Further, we find the length of the segment lP3B2 from the triangle n B2C3P3:

lP 3B 2 = l5 + l6 − 2l5l6 cos ∠B2C3P3.

2 2
(8)
Similarly, considering the triangles n B2C1P1 and n B1C2P2 as in Eq. (8), we find the lengths of the seg-
ments lP1B2 and lP2B1:

lP1B 2 = lP21C1 + l32 − 2lP1C1l3 cos ∠PC

1 1B2,
(9)
lP 2B1 = l2 + lP 2C 2 − 2l2lP 2C 2 cos ∠B1C2 P2.
2 2

Next, we determine the position of the point B2( X B' 2,YB' 2, Z B' 2 ) in the moving coordinate system
O'X'Y'Z' . For this purpose, we compose a system of quadratic equations connecting the coordinates of the
desired point B2 with the coordinates of the points P1 , P2 , P3 :
 ( X ' − X ' )2 + (Y ' − Y ' )2 + (Z ' − Z ' )2 = l 2 ,
 P1 B2 P1 B2 P1 B2 P1B 2
 '
( X P 2 − X B' 2 ) + (YP' 2 − YB' 2 ) + (Z P' 2 − Z B' 2 ) = lP 2B 2,
2 2 2 2


( X P' 3 − X B' 2 ) + (YP' 3 − YB' 2 ) + (Z P' 3 − Z B' 2 ) = lP 3B 2,
2 2 2 2

in which values of the segment length  lP1B 2 and lP 3B 2 correspond to the expressions (8) and (9). Let us
determine the segment length of lP 2B 2 = lP 2С 2 − l4 , in which the length lP 2С 2 is also specified.
Next, we determine the coordinates of the point C2( X C' 2,YC' 2, ZC' 2 ) in the moving coordinate system. For
this purpose, we first compose the equation of a straight line passing through two specified points
P2( X P' 2,YP' 2, Z P' 2 ) and B2( X B' 2,YB' 2, Z B' 2 ) as follows:
X − X P' 2 Y − YP' 2 Z − Z P' 2
= = . (10)
X B' 2 − X P' 2 YB' 2 − YP' 2 Z B' 2 − Z P' 2

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396 RASHOYAN et al.

Then, using the segments lengths lP 2С 2 and lP 2B 2 , we determine the coordinates of the point
C2( X C' 2,YC' 2, ZC' 2 ) lying on the line specified by Eq. (10). For this purpose, we compose the following equa-
tion:
X C' 2 − X P' 2 lP 2С 2 YC' 2 − YP' 2 lP 2С 2 ZC' 2 − Z P' 2 lP 2С 2
= , = , = ,
X B' 2 − X P' 2 lP 2 B 2 YB' 2 − YP' 2 lP 2 B 2 Z B' 2 − Z P' 2 lP 2 B 2

from which we find the coordinates X C' 2,YC' 2 , ZC' 2 .

Let us determine the position of the point B1( X B' 1,YB'1, Z B' 1) in the moving coordinate system O'X'Y'Z' .
For this purpose, we compose a system of quadratic equations connecting the coordinates of the desired
point B1 with the coordinates of the points P1 , C2 , P2 as follows:
( X ' − X ' )2 + (Y ' − Y ' )2 + (Z ' − Z ' )2 = l 2 ,
 B1 P1 B1 P1 B1 P1 P1B1
 '
( X B1 − X C' 2 ) + (YB'1 − YC' 2 ) + (Z B' 1 − ZC' 2 ) = l2 ,
2 2 2 2


( X B' 1 − X P' 2 ) + (YB'1 − YP' 2 ) + (Z B' 1 − Z P' 2 ) = lP 2B1,
2 2 2 2

where lP1B1 = lP1С1 − l1 .
Next, we consider a tetrahedron B1B2P3B3 with the vertex at point B3 in the moving coordinate system
and compose a system of quadratic equations connecting the coordinates of the points B1 , B2 , P3 of the
tetrahedron base with the coordinates of its vertex at the point B3 . In this case, we obtain
( X ' − X ' )2 + (Y ' − Y ' )2 + (Z ' − Z ' )2 = l 2 ,
 B3 B1 B3 B1 B3 B1 B1B3
 '
( X B3 − X B' 2 ) + (YB' 3 − YB' 2 ) + (Z B' 3 − Z B' 2 ) = lB 2B3,
2 2 2 2


( X B' 3 − X P' 3 ) + (YB' 3 − YP' 3 ) + (Z B' 3 − Z P' 3 ) = lP 3B3.
2 2 2 2

The segment length lP 3B3 is determined from the following relation:
lP 3B3 = lP 3С 3 − l6.
In this case, the length lP 3С 3 is also specified.
Given the coordinates of points B1 , B2 , B3 in the moving coordinate system, we can determine the dis-
tance between any points B1, B2 , B3 , P1 , P2 , P3 in the moving coordinate system. In particular, we deter-
mine the lengths of the following segments:

lP1B3 = ( X P' 1 − X B' 3 )2 + (YP'1 − YB' 3 )2 + (Z P' 1 − Z B' 3 )2,

lP 2B3 = ( X P' 2 − X B' 3 )2 + (YP' 2 − YB' 3 )2 + (Z P' 2 − Z B' 3 )2,

lP 3B1 = ( X P' 3 − X B' 1)2 + (YP' 3 − YB'1)2 + (Z P' 3 − Z B' 1)2.

Based on the above, to determine the positions of the output chain points Pi ( X Pi , YPi , Z Pi ) (i = 1, 2, 3)
in the fixed coordinate system OXYZ , we consider three tetrahedrons with a common base plane passing
through points B1, B2 , B3 and the vertices at the points P1 , P2 , P3 . The analytical solution of the problem of
determining the point coordinates of these tetrahedron vertices is reduced to solving a system of three qua-
dratic equations:
( X B1 − X P1)2 + (YB1 − YP1)2 + (Z B1 − Z P1)2 = lP21B1,

( X B 2 − X P1) + (YB 2 − YP1) + (Z B 2 − Z P1) = lP1B 2,
2 2 2 2

( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2 ,
 B3 P1 B3 P1 B3 P1 P1B3

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 THE DIRECT POSITION PROBLEM 397

( X B1 − X P 2 )2 + (YB1 − YP 2 )2 + (Z B1 − Z P 2 )2 = lP2 2B1,


( X B 2 − X P 2 ) + (YB 2 − YP 2 ) + (Z B 2 − Z P 2 ) = lP 2B 2,
2 2 2 2

( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2 ,
 B3 P2 B3 P2 B3 P2 P 2B3

 ( X B1 − X P 3 )2 + (YB1 − YP 3 )2 + (Z B1 − Z P 3 )2 = lP2 3B1,


( X B 2 − X P 3 ) + (YB 2 − YP 3 ) + (Z B 2 − Z P 3 ) = lP 3B 2,
2 2 2 2

( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2 .
 B3 P3 B3 P3 B3 P3 P 3B 3

The algorithm for solving a system of quadratic equations is similar to solving system (1). Thus, we can
assume that the output chain position specified by the coordinates of the points P1, P2, P3 is known.
It should be noted that the problem of determining the absolute coordinates, namely, the position of
the center of the moving coordinate system and the orientation angles α, β, γ of the coordinate axes is also
important.
To go from the Cartesian coordinates of points to absolute coordinates, we first determine the center
position of the moving coordinate system, which is associated with the solution of the following system of
equations:
( X P1 − X O ' )2 + (YP1 − YO ' )2 + (Z P1 − ZO ' )2 = lP21O ' ,

( X P 2 − X O ' ) + (YP 2 − YO ' ) + (Z P 2 − ZO ' ) = lP 2O ',
2 2 2 2

( X − X )2 + (Y − Y )2 + (Z − Z )2 = l 2 ,
 P3 O' P3 O' P3 O' P 3O '

where X O ' , YO ' , ZO ' are the desired coordinates of the moving coordinate system origin O' in the fixed sys-
tem and lP1O ' , lP 2O ' , lP 3O ' are the known radius-vectors of the points P1, P2, P3 in the moving coordinate
system. The system of equations is solved similarly to system (1). Next, we transfer the center O' of the
moving coordinate system to be compatible with the center O   of the fixed system, which will allow deter-
mining the orientation angles.
The 3 × 3-matrix describing the transition from the moving system to the base coordinate system [8]
has the following form:
 cos(γ) cos(β) cos(γ) sin(β) sin(α) − sin(γ) cos(α) sin(γ) sin(α) + cos(γ) cos(α) sin(β) 
M =  sin(γ) cos(β) cos(γ) cos(α) + sin(γ) sin(β) sin(α) sin(γ) cos(α) sin(β) − cos(γ) sin(α)  .
 
 − sin(β) cos(β) sin(α) cos(β) cos(α) 
This corresponds to the rotation of the moving system around the axis OX at an angle α, then around
a rotated axis OY at an angle β and around a double-rotated axis OZ at an angle γ. To determine these
angles, we write in matrix form the equations of transition between two coordinate systems for three points
of the output chain, the coordinates of which are known in both the moving and fixed systems:
 X '  
 Pi   X Pi 
M ⋅  YPi'  =  YPi  (hereinafter i = 1,2,3).
   
 Z '   Z Pi 
 
Pi

The multiplication of the matrices results in three trigonometric equations with three unknown angles.
In total, there will be nine equations that have the following form:
' cos(γ) cos(β) + YPi' (cos(γ) sin (β) sin(α) − sin (γ) cos(α))
X Pi
+ Z Pi
' (sin (γ) sin(α) + cos(γ) cos(α) sin (β)) = X Pi ,
' sin (γ) cos(β) + YPi' (cos(γ) cos (α) + sin(γ) sin (β) sin(α))
X Pi
+ Z Pi
' (sin (γ) cos(α) sin (β) − cos (γ) sin(α)) = YPi ,
− X Pi
' sin(β) + YPi' cos(β) sin(α) + Z Pi
' cos(β) cos(α) = Z Pi .

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398 RASHOYAN et al.

Next, we consider three equations relating the coordinates Z Pi and angles α, β, γ as follows:
− X P' 1 sin(β) + YP'1 cos(β) sin(α) + Z P' 1 cos(β) cos(α) = Z P1,
− X P' 2 sin(β) + YP' 2 cos(β) sin(α) + Z P' 2 cos(β) cos(α) = Z P 2,
− X P' 3 sin(β) + YP' 3 cos(β) sin(α) + Z P' 3 cos(β) cos(α) = Z P 3.
We introduce the following notation:
sin (β) = m1,
cos(β) sin (α) = m2,
cos(β) cos (α) = m3.
Then, we obtain
 −X ' Y ' Z ' 
 P1 P1 P1   m1   Z P1 
 −X ' Y ' Z '   m  =  Z  ,
 P 2 P 2 P 2   2   P 2 
 − X P' 3 YP' 3 Z P' 3   3   P 3 
m Z
 
from whence we find that
−1
 −X ' Y ' Z ' 
 m1   P1 P1 P1   Z P1 
 m  =  −X ' Y ' Z '   Z  .
 2   P 2 P 2 P 2   P 2 
 m3   − X P' 3 YP' 3 Z P' 3   Z P 3 
 
Considering the inverse matrix, we can write that
β = arcsin(m1),
α = arcsin(m2 / cos(β)).
To find the angle γ , we consider a system of three equations:
X P' 1 sin (γ) cos(β) + YP'1(cos(γ) cos (α) + sin(γ) sin (β) sin(α))
+ Z P' 1(sin (γ) cos(α) sin (β) − cos (γ) sin(α)) = YP1,
X P' 2 sin (γ) cos(β) + YP' 2(cos(γ) cos (α) + sin(γ) sin (β) sin(α))
+ Z P' 2(sin (γ) cos(α) sin (β) − cos (γ) sin(α)) = YP 2,
X P' 3 sin (γ) cos(β) + YP' 3(cos(γ) cos (α) + sin(γ) sin (β) sin(α))
+ Z P' 3(sin (γ) cos(α) sin (β) − cos (γ) sin(α)) = YP 3.
We denote that
sin (γ) cos(β) = s1,
cos(γ) cos (α) + sin(γ) sin (β) sin(α) = s2,
(sin (γ) cos(α) sin (β) − cos (γ) sin(α) = s3.
Then, we obtain that
−1
 X' Y' Z' 
 s1   P1 P1 P1   YP1 
s  = X' Y ' Z'  Y  .
 2   P 2 P 2 P 2   P 2 
 s3   X P' 3 YP' 3 Z P' 3  YP 3 
 
JOURNAL OF MACHINERY MANUFACTURE AND RELIABILITY Vol. 48 No. 5 2019
 THE DIRECT POSITION PROBLEM 399

Hence, we find the unknown angle as follows:

γ = arcsin ( s1 / cos(β)) .
It should be noted that the inverse function arcsine on the interval [–π/2; +π/2] is determined
uniquely.
Thus, the direct position problem is solved and the absolute coordinates of the mechanism output
chain are also determined.
Let us consider an example. The coordinates of the points P1, P2, P3 of the output chain in the moving
coordinate system are known: P1' (1  0  0), P2' ( 0 1   0), P3' ( 0  0 1 ). According to this algorithm, the coordinates
of these points in a fixed coordinate system are determined:
P1 ( 0.3536 0.6124 −0.7071) ,
P2 ( −0.5732 0.7392 0.3536 ) ,
P3 ( 0.7392 0.2803 0.6124 ) .
The calculation of the orientation angles of the moving coordinate system with respect to the fixed sys-
tem produces the following result:
α =  30.004° β = 44.99° γ = 60.003°.
Thus, in this paper, we provide an analytical solution to the direct position problem for the l-coordinate
mechanism of the common type, as well as for the mechanism in which the output chain and the drives
are located on opposite sides of the base. The analytical solution of the direct position problem simplifies
the compilation of the mechanism motion equations, which gives an advantage when solving problems of
dynamic motion control [15].

FUNDING
This work was supported by the Russian Foundation for Basic Research, project no. 16-29-04273ofi_m.

CONFLICT OF INTEREST
Authors declare no conflict of interest.

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Translated by A. Ivanov

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