基于共形几何代数的一种平面并联机构位置正解

doi:10.13190/jbupt.201002.7.nizhs

北京邮电大学学报 ›› 2010, Vol. 33 ›› Issue (2): 7-10.doi: 10.13190/jbupt.201002.7.nizhs

基于共形几何代数的一种平面并联机构位置正解

倪振松廖启征魏世民李瑞华

北京邮电大学自动化学院，北京 100876

收稿日期:2009-05-26 修回日期:2009-10-28 出版日期:2010-04-28 发布日期:2010-04-28
通讯作者: 倪振松
作者简介:倪振松(1973—)，男，博士生， E-mail: nizhensong@sina.com；廖启征(1947—)，男，教授，博士生导师.
基金资助:
国家高技术研究发展计划项目(2007AA04Z211)；国家自然科学基金项目(50775012， 50875027)；北京市自然科学基金项目(3092015)

Forward Displacement of a Planar Parallel Mechanisms Position based on Conformal geometric algebra

NI Zhen-song LIAO Qi-zheng WEI Shi-min LI Rui-hua

School of Automatic, Beijing University of Posts and Telecommunications, Beijing 100876, China

Received:2009-05-26 Revised:2009-10-28 Online:2010-04-28 Published:2010-04-28
Contact: Ni zhen-song

摘要/Abstract

摘要：

以平面并联机构为题，应用5维几何代数（共形几何代数）方法对该平面并联机构进行了分析，建立了运动学正解模型,并编制了Maple的计算程序，求出了6组位姿结果，最后将分析结果与采用吴方法得到的分析结果进行对照，证明了该方法的有效性. 这对用统一的数学工具分析机构学，降低非线性度，增强几何直观性方面做了初步尝试.

关键词: 几何代数, 共形几何代数, 平面并联机构, 位置正解分析

Abstract:

Based on a planar parallel mechanism, a forward kinematics model is built and solved by geometric algebra （conformal geometric algebra）. Six position and pose result are eventually obtained through the establishment the Maple program. Finally, the effectiveness and accuracy of this method are verified by using Wu method. And this does good for finding a unified mathematical language in mechanism analysis, and for reducing the nonlinearity and enhancing the geometric intuition.

Key words: geometric algebra, conformal geometric algebr;planar parallel mechanism, forward displacement analysis

中图分类号:

TP242.2

倪振松廖启征魏世民李瑞华. 基于共形几何代数的一种平面并联机构位置正解[J]. 北京邮电大学学报, 2010, 33(2): 7-10.

NI Zhen-song LIAO Qi-zheng WEI Shi-min LI Rui-hua. Forward Displacement of a Planar Parallel Mechanisms Position based on Conformal geometric algebra[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2010, 33(2): 7-10.

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基于共形几何代数的一种平面并联机构位置正解

Forward Displacement of a Planar Parallel Mechanisms Position based on Conformal geometric algebra

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