A new numerical approach of direct displacement solution for the Tricept robot based on ordered single-opened-chain was presented. The minimum dimension direct displacement equations of the system, equal to the coupling degree, were derived according to the topological structural characteristics. The analysis course was simple and could obtain all the real direct solutions. Eight real direct solutions of the Tricept robot have been obtained by a 2-D search and the search is efficient.
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冯志友,王志国,张策,杨廷力. Tricept机器人机构位置正解的序单开链法[J].农业机械学报,2008,39(12):174-177.[J]. Transactions of the Chinese Society for Agricultural Machinery,2008,39(12):174-177.