A New Method on the Position Analysis of 3-Dof 3-P_C(RR)_N Spherical Parallel Mechanism

Abstract

By applying quaternion and Sylvester resultant elimination method, and with the help of Mathematica 8.0 software, the 3-Dof 3-PC(RR)N spherical parallel mechanism location is analyzed. In solving inverse solution, there are 512-group input angle solutions, and 64-group real solutions. In the example of this paper, there are a total of 8-group real solutions by removing the extraneous roots.