并联机器人运动学正解的实解分析

Real Solutions Analysis of the Direct Kinematics for a Parallel Manipulator

在３ － ６ 并联机器人运动学正解解析解的研究基础上，对其正解的最大实解个数进行进一步的分析研究·研究表明其正解问题最后可转化为一个高次多项式方程求解问题，称此方程为正解的等价多项式方程·通过分析可知，运动学正解实解的个数的上限为： 当自变量在其解区间时其等价多项式方程实解的个数·最后应用 Ｓｔｕｒｍ 定理对正解最大实解个数进行判定·

The most real solutions number of the direct displacement of kinematics for 3-6 parallel manipulator was further studied in term of its analysis solutions. The direct displacement problem can be changed into solving a polynomial equation called the equivalent polynomial equation. The most real solutions number of direct displacement of kinematics is the real solutions number of the equivalent polynomial equation whose independent variable belongs to solution interval. Finally, Sturm theorem was applied to determinate the most real solutions for the direct displacement of kinematics.