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Volume 24 Issue 1
Jan.  1998
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Journal of Beijing University of Aeronautics and Astronautics  > 1998  >  24(1): 116-119.
Han Lin, Zhang Yu, Liang Chonggaoet al. Wus Method for Forward Displacement Analysis of the Planar Parallel Mechanisms[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(1): 116-119. (in Chinese)
Citation: Han Lin, Zhang Yu, Liang Chonggaoet al. Wus Method for Forward Displacement Analysis of the Planar Parallel Mechanisms[J]. Journal of Beijing University of Aeronautics and Astronautics, 1998, 24(1): 116-119. (in Chinese)
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Wus Method for Forward Displacement Analysis of the Planar Parallel Mechanisms

  • 1.

    Beijing University of Aeronautics and Astronautics,Dept.of Mechanical and Electrical Engineering

  • 2. Beijing University of Posts and Telecommunications,Dept. of Mechanical and Electronic Engineering

  • Received Date: 20 Dec 1996
  • Publish Date: 31 Jan 1998
    Abstract
  • The forward displacement analysis of the planar parallel mechanisms is studied by using Wu's method.Wu's method is a mechanical mathematics method for solving nonlinear equations.It can solve any nonlinear equations in limited steps.On the base of introducing theory of Wu's method,the problem is solved.The original equations of the problem is changed into triangulated equations in which a single unknown polynomial equation has 6th degree.The result shows that the planar parallel mechanism can have 6 different positions and orientations.In the end,a numerical example is studied.All the solutions for the example are listed.The presented method provides a new way for solving the other difficult mechanism problems.

     

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    • References(1)
  • 1. Stewart D.A platform with six degree of freedom.Proc Inst Mech Engrs,1965,180(15): 371~386 2. 吴文俊.几何定理机器证明的基本原理.北京:科学出版社,1984 3. Wu W J.A zero structure theorem for polynomial equation-solving.MM Research Preprings,1987,1: 2~13 4. 吴文俊.吴文俊文集.济南:山东教育出版社,1986 5. Karelin V S.Analytical determinate of kinematic characteristics of the plane 4-th-link structural groups.The theory of machines and mechanisms Proceedings of the 7th World Congress,Spain,1987.155~158 6. Merldt J P.Algebraic-geometry tools for the study of kinematics of parallel manipulators.In:Angeles J.Computational Kinematics.Netherlands: Kluwer academic publishers,1993.183~194
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