用连续法进行 6-SPS 并联机器人机构的位置正解

Forward Displacement Analysis of 6 SPS Parallel Manipulators Using Continuation

提出了用连续法求解多项式方程组时构造初始方程组的一条新原则，并将其应用于６－ＳＰＳ并联机器人机构的位置正解，使得求出该机构所有位置正解所需跟踪的同伦路径数目大为减少，从而提高了计算效率，还得到了位置正解数目最大值为２４的６－ＳＰＳ并联机器人机构两种新的尺度类型。

A new criterion for formulating the initial system is proposed to decrease the mumber of paths to be tracked in finding all solutions to a polynomial system using continuation. The criterion is applied to the forward displacement analysis of 6 SPS parallel manipulators. The mumber of paths to be tracked to find all the sets of solutions to the forward displacement analysis problem is reduced to 1/ k of that when the criterion is not aplied, the k equals 2 for general 6 SPS parallel manipulators or 4 for 6 SPS parallel manipulators with planar platforms. The efficiency of the solution is thus increased. Two new dimensional types of 6 SPS parallel manipulators with 24 being the maximum number of solutions to the forward displacement analysis are also revealed.