Journal of Applied Sciences1812-56541812-5662Asian Network for Scientific Information10.3923/jas.2004.398.405WuTzong-Mou3200443In general, the kinematics design problems include two types: synthesis of
mechanism and inverse of robot. In fact, when we deal with the design problems,
the results/outputs usually are given/desired but the inputs are unknown/to
be found. People must understand how to control/determine the input variables
to satisfy the results/outputs. This paper systematically presents these two
types of solution based on transformation matrix and Homotopy continuation method
for general kinematics design problems except for mechanism and robot. The kinematic
equations, which include displacement, velocity and acceleration relationships,
are derived by 4x4 homogeneous transformation matrix
method. Also these equations can be solved by Homotopy continuation method when
these equations are non-linear.]]>Wu, T.M.,2002Morgan, A.P.,1981Morgan, A.P.,1987Halvorson, M.,1999Microsoft Corporation,1999Deitel, H.M., P.J. Deitel and T.R. Nieto,1999Hibbeler, R.C.,2001Beer, F.P. and E.R. Johnston,2001Sandor, G.N. and A.G. Erdman,1997Erdman, A.G.,1993Angeles, J.,1997Tsai, L.W.,1999Epperson, J.F.,2002