Synthesis of Stephenson Ⅲ Six-Link Mechanism for Function Generation Using an Improved Homotopy Method

摘要

This paper presents solutions to the function generation problems of Stephenson Ⅲ six-link mechanism with the maximum precision positions for the first time using homotopy method with an improved path-tracking scheme. The new path-tracking scheme is based on the characteristics of the zero sets of homotopy function for polynomial mapping and thus the tracking speed is dramatically increased.