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Direct position analysis of nine-link Barranov truss based on Dixon resultants
Wang Pin, Liao Qizheng, Wei Shimin, Zhuang Yufeng*
Automation School, Beijing University of Posts and Telecommunications, Beijing 100876,China

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Abstract�� The assembly configurations of a kind of non-planar nine-link Barranov truss were analyzed by using Dixon's resultants. Four equations were established for the four loops of the mechanism by using vector method and they were changed into complex exponent numbers form. Dixon method was adopted to construct a 22×22 Dixon matrix and then the greatest common divisor of two columns was extracted. After expanding the determinant of the matrix, a 64 degree univariate polynomial equation was obtained and 6 extraneous roots were canceled in the process of solving the other 3 variables. The same result could be obtained by using homotopy continuations method. A numerical example is given and it verifies that the number of assembly configurations of this kind of Barranov truss is 58.
Keywords�� nine-link Barranov truss   forward position analysis   Dixon resultants   homotopy continuations method   GCD of polynomials     
Received 2005-08-18;

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��Ʒ, ������, κ����, ׯ����.����Dixon��ʽ��һ��9�˰������λ�÷���[J]  �������պ����ѧѧ��, 2006,V32(07): 852-855
Wang Pin, Liao Qizheng, Wei Shimin, Zhuang Yufeng.Direct position analysis of nine-link Barranov truss based on Dixon resultants[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2006,V32(07): 852-855
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