基于数学机械化方法和计算机符号处理技术 ,对八面体及十面体变几何桁架机器人的位置分析进行了符号法求解 ,成功地将非线性位置约束方程组化简为等价的三角化方程组 ,分别导出了单变量的 1 6次和 48次代数方程 ,并给出一个数字实例说明这种方法 Based on mathematical mechanization method and computer symbol processing technology, the position analysis of octahedral and decagonal variable geometry truss robots was solved by symbolic method. The nonlinear constrained position equations were successfully reduced to the equivalent triangular equations The univariate 1 6 and 48 algebraic equations were derived and a numerical example was given to illustrate this approach