Forward Displacement Analysis of the 4SPS-2CCS Generalized Stewart Parallel Robot Mechanism Based on Hyper-Chaotic Sequences

Abstract:

The forward displacement analysis of parallel mechanism is attributed to find the solution of complex nonlinear equations which is a very difficult process. Take chaotic sequences as the initial value of Newton iterative method, we can find all the solutions of equations quickly. The paper investigated the initial point generated by hyper-chaotic circuit system and provided a new method and calculation step of finding the all real number solutions of nonlinear equations. Using quaternion, the mathematical model of forward displacement for the generalized 4SPS-2CCS Stewart parallel robot mechanism was established and an example was given. Compared to the topological continuations method the result shows the calculation is brief and general. It can be used in forward displacement of other parallel mechanism. The research builds the theory basis for dimensional design, trajectory planning and controlling of this type of manipulator.

• Periodical: Advanced Materials Research (Volumes 230-232)
• Pages: 728-732
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.230-232.728
• Online since: May 2011
• Authors: You Xin Luo, Xiao Yi Che, Bin Zeng
• Keywords: Forward Displacement Analysis, Generalized Stewart Parallel Mechanism, Hyper-Chaotic System, Newton Method, Nonlinear Equation, Quaternion

References

[1] F. WEN, C.G. LIANG, Q. Z. LIAO: China Mechanical Engineering, Vol. 10, No. 9(1999), pp.1011-1013.

[2] X. S. GAO, Q. Z. LIAO: China Patent: 200410073712. 2(2004).

[3] X. S. GAO,L. L. DE,Q. Z. LIAO, et a1 : IEEE Trans. Robotics, Vol. 2l, No. 2(2005), p. 14l-l51.

[4] X.G. HUANG,Q. Z. LIAO,S. M. WEI, et al: Journal of Beijing University of Posts and Tele., Vol. 30, No. 3(2007), pp.15-18, 31.

[5] X.G. HUANG, Q. Z. LIAO, D.L. LI: Chinese Journal of Mechanical Engineering, Vol. 43, No. 5 (2007), pp.8-13.

[6] J.F. CHEN, L.J. YUE, J.H. PENG: J. of Northeast Normal Univ. (Natural Science), Vol. 32, No. 9(2000), pp.25-29.