北京邮电大学学报

  • EI核心期刊

北京邮电大学学报 ›› 2010, Vol. 33 ›› Issue (4): 1-11.doi: 10.13190/jbupt.201004.1.liaoqzh

• 综述 •    下一篇

连杆机构运动学几何代数求解综述

廖启征   

  1. 北京邮电大学 自动化学院
  • 出版日期:2010-08-28 发布日期:2010-08-28
  • 通讯作者: 廖启征(1947—), 男, 教授, 博士生导师, Email: qzliao@bupt.edu.cn.

Geometry Algebra Method for Solving the Kinematics of Linkage Mechanisms

  • Online:2010-08-28 Published:2010-08-28

摘要:

介绍了连杆机构研究中涉及几何学的一些问题,包括平面、空间连杆机构;串联、并联机构的建模与求解;机构运动分析与综合等. 在建模和求解方面,主要介绍了目前对上述问题进行研究的一些新方法以及利用计算机对这些问题进行处理时出现的问题和应采取的措施.

关键词: 连杆机构, 几何代数, 运动分析与综合, 未知量消元

Abstract:

The problem discussed here is the research work of linkage mechanisms, which has relations with geometry. These works include planar and spatial mechanisms, series and parallel mechanisms, geometrical modeling of the mechanisms and equations solving. The kinematic analysis and synthesis of mechanisms are also discussed. Except traditional method, modern ones for solving these problems are outlined here. When computer is used, some special problems appear in the calculation and are also discussed.

Key words: linkage mechanisms, geometry algebra, kinematic analysis and synthesis, unknown elimination