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

doi:10.13190/jbupt.201002.7.nizhs

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2010, Vol. 33 ›› Issue (2): 7-10.doi: 10.13190/jbupt.201002.7.nizhs

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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

Abstract

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

CLC Number:

TP242.2

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

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