组合十面体变几何桁架机器人的直接位置分析

Direct Position Analysis of Three Types of Composite Decahedron Variable Geometry Truss Manipulators

提出了３种组合十面体变几何桁架机构的结构型式，建立了其直接位置分析方法，导出了输入输出位移方程。

The structures of three types of composite decahedron variable geometry truss manipulators are proposed in this paper.An analytical method for solving direct position problem is established.Input output displacement equations are derived.The number of direct displacement solutions is studied.