FORWARD DISPLACEMENT ANALYSIS OF A CLASS OF MIXED MECHANISM USING CONTINUATION METHOD

The forward displacement analysis of a class of mixed mechanism is studied in this paper. Firstly, the coordinate transformation relation between the moving platform and the fixed platform of the mecha-nism is obtained using D-H matrix method.Then,a set of equations for its forward displacement analysis is established using link-length constraints.At last,all sets of solutions for the set of equations are obtainedwith continuation method.The method used in this paper is general and can also be used for forward displacement analysis of other classes of mixed mechanisms as well as parallel mechanisms.