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基于共形几何代数的一种平面并联机构位置正解

DOI: 10.13190/jbupt.201002.7.nizhs, PP. 7-10

Keywords: 几何代数,共形几何代数,平面并联机构,位置正解分析

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Abstract:

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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