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《MECHANICAL SCIENCE AND TECHNOLOGY》 1999-03
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Inverse Displacement Analysis of 3 RPS Regional Parallel Manipulators

Kong Xianwen 1 Huang Zhen ( 1 Zhengzhou University, Zhengzhou 450052)  
The 3 RPS regional parallel manipulator is composed of a moving platform and a fixed platform connected by 3 RPS sub chains. The grouping of solutions to the set of equations for inverse displacement analysis of the manipulator is revealed at first. The new criterion for formulating the initial system proposed in to decrease the number of paths to be tracked in finding all solutions to a polynomial system using continuation is then applied to the inverse displacement analysis of the 3 RPS regional parallel maipulator. The numbers of solutions to the inverse displacement analysis are respectively equal to 64 for the general case, 32 for the case with one and only one simple RPS sub chain, 16 for the case with two and only two simple RPS sub chains, and 8 for the case with three simple RPS sub chains. A simple RPS sub chain is the RPS sub chain the axes of R pairs of which are perpendicular to and intersect with each other. The number of paths to be tracked to find all the sets of solutions to the inverse displacement analysis is equal to the corresponding number of solutions for each case.
【CateGory Index】: TG434.5
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