台体型4SPS-2CCS广义并联机构位置正解分析

generalized Stewart platform 4SPS-2CCS is put forward and its forward displacement analysis is discussed based on quaternion. In order to obtain the number of solutions of this kind mechanism, Mourrain variety is used. The results show that the forward displacement problem of the generalized 4SPS-2CCS parallel mechanism has at most 160 solutions. In addition, all the 160 solutions have been obtained in an example by using homotopy continuation method. The example shows that the upper bound of 160 solutions can be reached in the general case. In stead of using Eular angle rotation matrix, the use of quaternion can reduce the Bezout number of the equations and the calculation time and make the computer program easy to write. The result is verified by a numerical example. Based on this result, the synthesis of the mechanism, the trajectory planning and the control of this manipulator will be easy to handle.