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Parameterized inverse kinematics of parallel mechanism based on CGA
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
2019 (English)In: EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science, Springer Netherlands, 2019, Vol. 59, p. 340-346Conference paper, Published paper (Refereed)
Abstract [en]

A parameterized inverse kinematic model is the theoretical basis for performance analysis, design and control of parallel mechanism (PM). Current methods are either computationally expensive or difficult to get analytical form. To deal with this problem, this paper proposes a parameterized method by conformal geometric algebra (CGA). Based on the description and computation of screw motions in CGA, closure equations about successive screw displacements of any PM can be formulated. Joint displacements of each limb and screw parameters of end-effector are then solved in an analytical manner. The proposed method is exemplified by a 3 degree-of-freedom (DoF) PM, which shows high efficiency in deriving the analytical inverse kinematic model.

Place, publisher, year, edition, pages
Springer Netherlands, 2019. Vol. 59, p. 340-346
Series
Mechanisms and Machine Science, ISSN 2211-0984
Keywords [en]
Conformal geometric algebra, Inverse kinematics, Joint displacement, Parallel mechanism, Algebra, Degrees of freedom (mechanics), Joints (anatomy), Mechanisms, Parameterization, Screws, 3 degrees of freedom, Analytical inverse kinematics, Closure equations, Design and control, Inverse kinematic models, Parallel mechanisms, Performance analysis, Inverse problems
National Category
Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-236339DOI: 10.1007/978-3-319-98020-1_40Scopus ID: 2-s2.0-85051142557OAI: oai:DiVA.org:kth-236339DiVA, id: diva2:1262083
Conference
EuCoMeS 2018 Proceedings of the 7th European Conference on Mechanism Science, 4-6 september, 2018
Note

QC 20181109

Available from: 2018-11-09 Created: 2018-11-09 Last updated: 2019-08-30Bibliographically approved

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Lian, Binbin

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