POC Analysis of Parallel Mechanisms Based on Conformal Geometric Algebra Description Method

摘要：

　　Conformal geometric algebra (CGA),as an effective mathematical tool for geometric representation and computation,is introduced to position and orientation characteristics (POC) analysis of parallel mechanisms (PMs) in this paper.A group of sic bivectors are derived in 5-dimensional conformal space to describe the joint axes and applied as independent bases to operation of mechanisms characteristics.Based on this,the POC and motion output characteristics of PMs can be obtained by the symbolic operation.Two types of PMs are analyzed by using this proposed method which shows conciseness and intuition.

关键词： Conformal geometric algebra Position and orientation characteristics Parallel mechanisms

作者: Chengwei Shen Lubin Hang

作者单位: Shanghai University of Engineering Science, Shanghai, 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: 367-378

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）