THE KINEMATIC ANALYSIS OF SPATIAL 6R MECHANISM

摘要

Existing methods of the analysis of positions of spatial mechanisms oriented on defined kinds of mechanisms, and the solution of a problem of the analysis of positions for a common case conjugates with bulky analytical transformations. In the given paper the method of a solution of this problem is offered on the basis of application of the spinor transformation of the three-dimensional space, permitting to realize transformations of the equations of kinematic of spatial mechanisms and to note their solution in the matrix shape with consequent reduction one algebraic equation with one unknown. In a paper the solution of a problem of the analysis of a position 6R the mechanism is reduced.