Forward kinematical solution of hexasphere by structural approximation

Abstract eng:
The paper deals with the description of a new method for the kinematical solution of non-simple (analytically non-solvable) mechanisms. The computational complexity of this method is better than the traditional iterative Newton method because it does not require the assembly of Jacobi matrix and the Gauss elimination. The method is based on the removal of structural part of the mechanism being analysed that causes the analytical non-solvability. The method is applied for the forward kinematical solution of HexaSphere.

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