Hyper-chaotic Finding Method of Forward Displacement Analysis of 4-DOF Parallel Manipulator

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. 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 4-RPTR Parallel Manipulator were built. All real solutions were found based on utilizing¿general Henon hyper-chaotic system to obtain sensitive initial points of Newton iterative method and assembly configuration were also given. The numerical example shows that the new method is correct and effective.