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《Journal of Beijing University of Technology》 2011-12
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Kinematics of RSSH Analysis Research Based on Chebyshev Approximation

NI Zhen-song1,2,LIAO Qi-zheng1,WEI Shi-min1,LI Rui-hua1 (1.Automation School,Beijing University of Posts and Telecommunications,Beijing 100876,China; 2.Tianjin City Key Laboratory of Modern Mechatronics Equipment Technology,Tianjin Polytechnic University,Tianjin 300160,China)  
The kinematics analysis of RSSH mechanisms is made in this paper.First,a kinematics analysis model is established,elimination of intermediate variables with vector operation is obtained by motion analysis equation.A polynomial equation is obtained from Transcendental equation in the sine and cosine function through the Chebyshev method.The method,without any roots,is a new viable solution to modeling and the Vice-H of spatial mechanism.
【Fund】: 国家“九七三”计划资助项目(2004CB31800);; 国家自然科学基金资助项目(50775012 50875072);; 国家“八六三”计划资助项目(2007AA04Z211);; 北京市自然科学基金资助项目(30530173082014)
【CateGory Index】: TH112
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