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Finding All Solutions to Forward Displacement Analysis Problem of 6 SPS Parallel Robot Mechanism

Liu Anxin 1 Yang Tingli ( 1Engineering Institute of Engineer Corps, Nanjing 210007)  
In this paper, the forward displacement analysis problem of the general 6 SPS parallel robot mechanism is studied. The displacement equations which contain 6 variables are established and all its solutions are obtained using 4 homogeneous continuation by tracking 960 homotopy paths.
【Fund】: 国家自然科学基金
【CateGory Index】: TP242
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