Chaotic Finding Method of Position Forward Kinematics of 3-DOF Parallel Robot

摘要

The position forward kinematics of mechanism is the basis of mechanism design. The position analysis problem can be transformed into nonlinear equations to be found. Gauss-Newton iterative method is an important technique to one dimensional and multidimensional variables and iterative process exhibits sensitive dependence on initial guess point. In this paper, position analysis equations of 3-RPS parallel manipulator were built. All real solutions were found based on utilizing anti-control of chaos of body motion to obtain locate initial points of Gauss-Newton iterative method. The numerical example shows that the new method is correct and effective.