Forward displacement analysis of generalized 5sps-1ccs parallel robot mechanism based on quaternion

被引：11
作者：
Huang, Xiguang [1 ]
Liao, Qizheng [1 ]
Li, Duanling [1 ]
Wei, Shimin [1 ]
机构：
[1] Automation School, Beijing University of Posts and Telecommunications
来源：
Jixie Gongcheng Xuebao/Chinese Journal of Mechanical Engineering | 2007年 / 43卷 / 05期
关键词：
Bi-linear equations; Forward displacement analysis; Homotopy continuation method; Parallel robot mechanism; Quaternion;
D O I：
10.3901/JME.2007.05.008
中图分类号：
学科分类号：
摘要：
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.
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页码：8 / 13
页数：5
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