Algebraic Solution for the Forward Displacement Analysis of the General 6-6 Stewart Mechanism

The solution for the forward displacement analysis（FDA） of the general 6-6 Stewart mechanism（i.e., the connection points of the moving and fixed platforms are not restricted to lying in a plane） has been extensively studied, but the efficiency of the solution remains to be effectively addressed. To this end, an algebraic elimination method is proposed for the FDA of the general 6-6 Stewart mechanism. The kinematic constraint equations are built using conformal geometric algebra（CGA）. The kinematic constraint equations are transformed by a substitution of variables into seven equations with seven unknown variables. According to the characteristic of anti-symmetric matrices, the aforementioned seven equations can be further transformed into seven equations with four unknown variables by a substitution of variables using the Grobner basis. Its elimination weight is increased through changing the degree of one variable, and sixteen equations with four unknown variables can be obtained using the Grobner basis. A 40th-degree univariate polynomial equation is derived by constructing a relatively small-sized 9 × 9 Sylvester resultant matrix. Finally, two numerical examples are employed to verify the proposed method. The results indicate that the proposed method can effectively improve the efficiency of solution and reduce the computational burden because of the small-sized resultant matrix.

Real polynomial iterative roots in the case of nonmonotonicity height ≥ 2

It is known that a strictly piecewise monotone function with nonmonotonicity height ≥ 2 on a compact interval has no iterative roots of order greater than the number of forts. An open question is: Does it have iterative roots of order less than or equal to the number of forts? An answer was given recently in the case of "equal to". Since many theories of resultant and algebraic varieties can be applied to computation of polynomials, a special class of strictly piecewise monotone functions, in this paper we investigate the question in the case of "less than" for polynomials. For this purpose we extend the question from a compact interval to the whole real line and give a procedure of computation for real polynomial iterative roots. Applying the procedure together with the theory of discriminants, we find all real quartic polynomials of non-monotonicity height 2 which have quadratic polynomial iterative roots of order 2 and answer the question.

Five precision point-path synthesis of planar four-bar linkage using algebraic method

The problem of synthesizing a planar four-bar linkage with two given fixed pivots such that the coupler curve passes through five given points is considered with the Groebner-Sylvester hybrid approach.First,closed-form equations of a single point are constructed.The reduced Groebner basis in degree lexicographic ordering for the closed-form equations is then obtained using com-puter algebra.A 23623 Sylvester’s matrix can be con-structed by selecting 23 out of 89 Groebner bases.A 36th degree univariate equation is obtained directly from the determinate of the matrix.The same result can be obtained with a continuation method.A numerical example is given and verifies that the problem has at most 36 solutions in the complex field.