THE FORWARD DISPLACEMENT ANALYSIS OF A KIND OF SPECIAL PLATFORM MANIPULATOR MECHANISMS

被引：10

作者：

YIN, JP

LIANG, CG

机构：

[1] Department of Mechanical Engineering, Beijing University of Posts and Telecommunications, Beijing

来源：

MECHANISM AND MACHINE THEORY | 1994年 / 29卷 / 01期

关键词：

Computer algebra system MUMATH - Constraint equations - Forward displacement analysis - Parallel platform mechanism - Platform manipulator mechanism - Relation equations;

D O I：

10.1016/0094-114X(94)90015-9

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The forward displacement analysis of a kind of special platform manipulator mechanisms is presented. To these mechanisms, there is a joint center on each vertex of two triangle platforms called base and top, and the other joint centers are on the edges of these triangles. Two algebraic equations of degree 24 and 40 in one unknown are obtained. Hence the maximum real assembly configurations of these mechanisms are 24 and 40 respectively. Numerical examples confirm these theoretical results. The symbolic computation is carried out by computer algebra system MUMATH.

引用

页码：1 / 9

页数：9