Mobility analysis of two limited-DOF parallel mechanisms using geometric Algebra

被引：4
作者：
机构：
[1] Mechatronic Institute, Zhejiang Sci-Tech University, Hangzhou, 310018, Zhejiang
来源：
Li, Qinchuan | 1600年 / Springer Verlag卷 / 8917期
关键词：
Geometric algebra; Limited-DOF parallel mechanism; Mobility analysis;
D O I：
10.1007/978-3-319-13966-1_2
中图分类号：
学科分类号：
摘要：
Mobility analysis determines the number of degree of freedom (DOF) and the motion pattern of a mechanism. Geometric algebra is applied to mobility analysis of two limited-DOF parallel mechanisms (PMs). Based on the outer product in geometric algebra, this method has the advantage in terms of geometric interpretation. It also can simplify the calculation because only addition and multiplication are involved during the whole computation. © Springer International Publishing Switzerland 2014.
引用
收藏
页码：13 / 22
页数：9
相关论文
共 19 条
[11]  
Zamora J., Bayro-Corrochano E., Inverse kinematics, fixation and grasping using conformal geometric algebra, Proceedings of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004). IEEE, (2004)
[12]  
Tanev T.K., Singularity analysis of a 4-DOF parallel manipulator using geometric algebra, Advances in Robot Kinematics, (2006)
[13]  
Tanev T.K., Geometric algebra approach to singularity of parallel manipulators with limited mobility, Advances in Robot Kinematics: Analysis and Design, (2008)
[14]  
Li Q.C., Chai X.X., Mobility analysis of limited-DOF parallel mechanisms in the framework of geometric algebra, Submitted to the Journal of Mechanisms and Robotics
[15]  
Hildenbrand D., Foundations of Geometric Algebra Computing, (2012)
[16]  
Vince J.A., Geometric Algebra for Computer Graphics, (2008)
[17]  
De Sabbata V., Datta B.K., Geometric Algebra and Applications to Physics, (2006)
[18]  
Dorst L., Fontijne D., Mann S., Geometric algebra for computer science (revised edition): An object-oriented approach to geometry, Morgan Kaufmann, (2009)
[19]  
Lipkin H., Duffy J., The elliptic polarity of screws, Journal of Mechanical Design, 107, pp. 377-386, (1985)
12