基于Groebner基法的3-RPS并联平台机构的位置正解

Analyses of Forward Position for a 3-RPS Parallel Mechanism Based Groebner

作者基于Groebner基法和计算机符号处理技术 ,对 3 RSP并联平台机构的位置正解问题进行了符号求解。该法通过对变量排序、建立多项式对的集合、求SP多项式和约简等运算 ,将一组非线性方程组化简为等价的三角化方程组 ,得到了封闭形式的解析解。同时给出了具体数值实例。

The forward position analyses for a 3-RPS parallel mechanism based on Groebner base method and computer symbolic manipulating technique are proposed in this paper. A set of nonlinear polynomial equations are transformed into a set of equivalent triangularization equations by using the following operations: ordering of variables, forming all pairs of polynomials, finding S-polynomial, reduction etc. The analytical solutions in the closed form are obtained. The numerical example is given for illustration.