| 基于Groebner基法的2RPS-1PPS并联机构位置正解分析 |
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| 引用本文： | 王彦,杭鲁滨,杨廷力.基于Groebner基法的2RPS-1PPS并联机构位置正解分析[J].机械与电子,2006(2):49-52. |
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| 作者姓名： | 王彦 杭鲁滨 杨廷力 |
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| 作者单位： | 上海交通大学,上海,200030;南京金陵石化公司,江苏,南京,210036 |
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| 摘 要： | 基于数学机械化思想，以Groebner基法对2RPS-1PPS并联机构位置正解进行分析，得到其位置正解最多为16解的结论，并给出数值算例。
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| 关 键 词： | 数学机械化 Groebner基 非线性代数方程组 并联机构 |
| 文章编号： | 1001-2257（2006）02-0049-04 |
| 收稿时间： | 2005-11-11 |
| 修稿时间： | 2005年11月11 |
Forward Displacement Analysis of the 2RPS-1PPS Parallel Manipulator Based on Groebner Basis |
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| WANG Yan,HANG Lu-bin,YANG Ting-li.Forward Displacement Analysis of the 2RPS-1PPS Parallel Manipulator Based on Groebner Basis[J].Machinery & Electronics,2006(2):49-52. |
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| Authors: | WANG Yan HANG Lu-bin YANG Ting-li |
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| Affiliation: | 1. Shanghai J iaotong University, Shanghai 200030, China; 2. Nanj ing J inling Petrolchemcial Corp. , Nanjing 210036, China |
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| Abstract: | Based on mathematics mechanization idea,Groebner basis method can be used to symbolically solve nonlinear equations in limited steps. In this paper, the forward displacement analysis of 2RPS- 1PPS parallel manipulator is studied by means of Groebner basis method. The result shows that the parallel mechanism can have 16 different configurations at most. |
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| Keywords: | mathematics mechanization Groebnet basis nolinear algebra equations parallel manipulator |
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