The Position Analysis of Spherical Seven-Bar Mechanism
In this paper, we turn plane seven-bar mechanism into spherical seven-bar mechanism, using quaternion to construct mathematical model for spherical seven-bar mechanism. Three constraint equations are obtained according to the angles constraint. Using Sylvester resultant elimination by two steps, a 32 degree univariate polynomial equation can be obtained. A numerical example confirms that analytical solutions of spherical seven-bar mechanism are 32 and with the help of Mathematic software to solve the location parameters.
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
Z. F. Zhang and Z. H. Zhang, "The Position Analysis of Spherical Seven-Bar Mechanism", Applied Mechanics and Materials, Vols. 101-102, pp. 193-196, 2012