Displacement Analysis of the 3SPS-3CCS Mechanism Hyper-Chaotic-Based Interval Iteration Method

摘要

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 Krawczyk operator-based interval iteration method, we can find all the solutions of equations quickly. Based on utilizing hyper-chaotic Henon 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 3SPS-3CCS parallel robot mechanism and a numerical example is given. The results showed finding solutions are brief and higher calculation efficiency. The proposed method has universality which can be used in forward displacement of other parallel mechanism.