Direct position analysis of nine-link Barranov truss based on Dixon resultants

作者：Wang Pin^*; Liao Qizheng; Wei Shimin; Zhuang Yufeng

来源：Journal of Beijing University of Aeronautics and Astronautics, 2006, 32(7): 852-855+864.

• Dixon resultants
• Forward position analysis
• Homotopy continuations method
• Nine link Barranov truss
• Polynomial equation
• Polynomials GCD

The assembly configurations of a kind of non-planar nine-link Barranov truss were analyzed by using Dixons resultants. Four equations were established for the four loops of the mechanism by using vector method and they were changed into complex exponent numbers form. Dixon method was adopted to construct a 22 × 22 Dixon matrix and then the greatest common divisor of two columns was extracted. After expanding the determinant of the matrix, a 64 degree univariate polynomial equation was obtained and 6 extraneous roots were canceled in the process of solving the other 3 variables. The same result could be obtained by using homotopy continuations method. A numerical example is given and it verifies that the number of assembly configurations of this kind of Barranov truss is 58.

• 出版日期2006
• 单位北京大学