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《CHINA MECHANICAL ENGINEERING》 1999-09
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The Forward Displacement Analysis of Parallel Robotic Mechanisms

Wen Fuan(Beijing University of Post & Telecommunications,Beijing,China) Liang Chonggao Liao Qizheng p 1011 1013  
It is very difficult to seek the closed-form solution in forward displacement analysis (FDA) for the Parallel Robotic Mechanism (PRM). The FDA, which involves highly nonlinear equations, needs highly math skill and advanced method with computer. The first step we work is to seek the solution of the simple or special PRM, 3-TPS and 3-6 SPS. The following step is along two ways, one way is to get 5-4(d) shape, 6-4 shape, 6-5 shape, the another way is to get 5-5 type, 6-5 type in 3-3 shape. All configurations of above mechanisms had been found, which gone ahead on the researches of closed form FDA for PRM at home. The research on displacement analysis of the 6-6 Stewart platform mechanisms has gone ahead in the world.
【Fund】: 国家自然科学基金
【CateGory Index】: TH112;TP242
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【References】
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