Displacement Analysis of a 6R Serial Robot Mechanism Using Conformal Geometric Algebra

摘要：

　　In this paper,we present a novel method for displacement analysis of a 6R serial robot mechanism based on conformal geometric algebra (CGA) method.The forward displacement problem of the mechanism is solved using motor and the inverse displacement problem is solved in a geometrically very intuitive way by handling intersections of spheres,circles,and planes,etc.in CGA.It is shown that this method has the advantages of simple computation and geometrical intuition.

关键词： Displacement analysis 6R serial robot Conformal geometric algebra

作者: Xiguang Huang Dishuo Zhao

作者单位: School of Mechanical and Materials Engineering, North China University of Technology,Beijing 100041, China

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 869-878

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）