Displacement Analysis of the 4SPS-2CCS Mechanism Based on Hyper-chaotic Newton-downhill method
The forward displacement analysis of parallel mechanism is attributed to find the solutions of complicated nonlinear equations and it is a very difficult process.Taking chaotic sequences as the initial values of Newton-downhill method,we can find all the solutions of equations quickly.Based on utilizing hyper-chaotic Hénon mapping to obtain initial points,a new method of finding all real number solutions of the nonlinear questions is proposed.Using cosine matrix method,the author established the mathematical model of forward displacement for the generalized 4SPS-2CCS parallel robot mechanism and a numerical example is given.Compared to the quaternion method building mathematical model,the result shows cosine matrix method building mathematical model and hyper-chaotic Newton-downhill method finding solution is brief and high calculation efficiency as the calculation is done in real number range.The proposed method has universality which can be used in forward displacement of other parallel mechanism.
Forward displacement analysis cosine matrix method 4SPS-2CCS parallel mechanism hyper-chaotic sequences nonlinear equations
Youxin LUO Xiaoyi CHE Bin ZENG
College of Mechanical Engineering, Hunan University of Arts and Science Changde,415000, China
国际会议
重庆
英文
733-737
2011-06-23（万方平台首次上网日期，不代表论文的发表时间）