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Abstract: The generalized 5SPS-1CCS parallel robot mechanism and its forward displacement analysis are presented. The mathematic model of the parallel mechanism is created based on quaternion. It is proved theoretically that the forward displacement problem of the generalized 5SPS-1CCS parallel platform has at most 80 nonsingular solutions using Mourrain
variety. All 80 nonsingular solutions of the forward displacement problem are obtained using homotopy continuation method. The procedure of quaternion manipulation is transformed into that of matrix manipulation and 4 quadric equations are reduced into bi-linear equations in the procedure of the calculation. The efficiency and feasibility are improved through the method proposed above. The result is verified by a numerical example. The analysis results prove that the proposed algorithm is simple and can be used to forward displacement analysis of other generalized parallel mechanisms. The research builds the theory basis for dimensional design, trajectory planning and control of this type of manipulator.
Key words: Quaternion Homotopy continuation method Bi-linear equations Parallel robot mechanism Forward displacement analysis
CLC No: TP242
国家重点基础研究发展计划(973计划, 2004CB31800)、国家自然科学基金(50475161)、北京市自然科学基金(3053017)、教育部科技研究重点(104043)和高校博士点基金(20050013006)资助项目. Received 20060524, received in revised form 20061109
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