A New Method on the Position Analysis of 3-Dof 3-PC(RR)N Spherical Parallel Mechanism
By applying quaternion and Sylvester resultant elimination method, and with the help of Mathematica 8.0 software, the 3-Dof 3-PC(RR)N spherical parallel mechanism location is analyzed. In solving inverse solution, there are 512-group input angle solutions, and 64-group real solutions. In the example of this paper, there are a total of 8-group real solutions by removing the extraneous roots.
Di Zheng, Yiqiang Wang, Yi-Min Deng, Aibing Yu and Weihua Li
D. L. Xu et al., "A New Method on the Position Analysis of 3-Dof 3-PC(RR)N Spherical Parallel Mechanism", Applied Mechanics and Materials, Vols. 101-102, pp. 369-373, 2012