| 基于共形几何代数的一种平面并联机构位置正解 |
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| 引用本文： | 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. |
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| 作者姓名： | 倪振松 廖启征 魏世民 李瑞华 |
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| 作者单位： | 北京邮电大学自动化学院,北京,100876;北京邮电大学自动化学院,北京,100876;北京邮电大学自动化学院,北京,100876;北京邮电大学自动化学院,北京,100876 |
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| 基金项目： | 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) |
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| 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.
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| 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 |
| 收稿时间： | 2009-05-26 |
| 修稿时间： | 2009-10-28 |
Forward Displacement of a Planar Parallel Mechanisms Position Based on Conformal Geometric Algebra |
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| 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 Telecommunications,2010,33(2):7-10. |
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| Authors: | NI Zhen-song LIAO Qi-zheng WEI Shi-min LI Rui-hua |
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| Affiliation: | School of Automatic, Beijing University of Posts and Telecommunications, Beijing 100876, China |
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| 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. |
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| Keywords: | geometric algebra conformal geometric algebr planar parallel mechanism forward displacement analysis |
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