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�������պ����ѧѧ�� 2002, Vol. 28 Issue (3) :370-372    DOI:
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Method to ��et the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle
HAN Xian-guo, CHEN Wu-yi, CHEN Ding-chang*
Beijing University of Aeronautics and Astronautics, School of Mechanical Engineering and Automation

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Abstract�� A predictor-corrector method to get the forward solution of a 6-SPS parallel manipulator was presented based on the principle of position tracking. By solving the initial value problem of the positional differential equation of the parallel manipulator, not only the position of platform can be determined when the lengths of six legs were specified, but also the transition positions between the two specified leg lengths can be determined. Effectiveness and speediness of the proposed method was demonstrated by simulation results.
Keywords�� position tracking   numerical solutions   predictor-corrector methods   parallel manipulator     
Received 2001-06-08;

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HAN Xian-guo, CHEN Wu-yi, CHEN Ding-chang.Method to ��et the Forward Solution of a 6-SPS Parallel Manipulator Based on Position Tracking Principle[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2002,V28(3): 370-372
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