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Real Solutions Analysis of the Direct Kinematics for a Parallel Manipulator

Wang Qizhi,Xu Xinhe (School of Information Science and Engineering,Northeastern University, Shenyang 110006,China)  
The most real solutions number of the direct displacement of kinematics for 3-6 parallel manipulator was further studied in term of its analysis solutions. The direct displacement problem can be changed into solving a polynomial equation called the equivalent polynomial equation. The most real solutions number of direct displacement of kinematics is the real solutions number of the equivalent polynomial equation whose independent variable belongs to solution interval. Finally, Sturm theorem was applied to determinate the most real solutions for the direct displacement of kinematics.
【Fund】: 国家自然科学基金
【CateGory Index】: TP242
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