In multibody mechanics, the motion analysis for a platform (the kinematics problem) can be classified into two cases: the forward kinematics problem and the inverse kinematics problem. In general it is pretty straightforward to solve the forward kinematics problem both numerically and symbolically.
In contrast, solving for the inverse kinematics problem is more complex. Because of the complexity involved, the inverse kinematics problem is often solved numerically through iterations, and is computationally expensive. With a numeric approach, however, information about the motion of the mechanism is often lost. In this paper, we will describe how to obtain a symbolic solution to the inverse kinematics problem for a Stewart-Gough parallel link manipulator using tools available in MapleSim.