同伦迭代法及应用于一般6-SPS并联机器人机构正位置问题

提出了一种基于同伦函数的新迭代法，它不需选取初值并可求出全部解，比传统的同伦（连续）法简化了求解过程，提高了计算效率和可靠性。将该方法应用于求解一般６－ＳＰＳ机械手的正位置问题，得到满意的结果，较方便地求出了问题的全部４０组解

Homotopy Iteration Method and Applied to Forward Displacement Analysis Problem of 6 SPS Parallel Robotic Manipulator

An iterating method based on homotopy function is proposed in this paper, All solutions can be found easily without the need of choosing proper initial values.Comparing to the homotopy continuation method,the solution process is simplified, and the computing efficiency as well as the reliability for obtaining all solutions are also improved.Applicating the method to the forward displacement analysis problem of 6 SPS parallel robotic manipulator, the results are satisfactory, all 40 solutions are found easily.