农业机械学报2024，Vol.55Issue(3)：421-430,10.DOI:10.6041/j.issn.1000-1298.2024.03.042
基于共形几何代数的并联机器人逆运动学分析方法
Inverse Kinematics Analysis Method of Parallel Robot Based on Conformal Geometry Algebra
摘要
Abstract
Kinematics analysis is the basis of kinematics performance evaluation and structure size optimization of parallel mechanism.The existing kinematics analysis methods of parallel robots have the problem of separating geometric modeling from geometric calculation.A method for inverse kinematics analysis of parallel robots was proposed by taking advantage of conformal geometric algebra(CGA),which integrated geometric representation and calculation.Firstly,the rigid body transformation of any point on the moving platform was realized by the geometric product under the framework of conformal geometry algebra,and then the conformal geometric expression of any point in the process of motion was obtained.Then the kinematic equation of the mechanism was established by using the inner product operation in combination with the dimension and geometry constraints of the mechanism.Finally,according to the kinematics equation,the inverse kinematics was calculated and the velocity was analyzed.A 3-RPS parallel robot of three degrees of freedom and a 6-UPS parallel robot of six degrees of freedom were taken as examples to verify the correctness of the proposed method,and the results of inverse kinematics were compared with those obtained by simulation software.This method combined the geometric objects such as space vector and rotation representation with the calculation methods such as matrix multiplication and vector outer product,so that the spatial geometry problems of parallel mechanism were handled in a unified algebraic system,so the analysis process was geometrically intuitive,and the analysis and calculation process of inverse kinematics were simplified.关键词
并联机器人/共形几何代数/运动学分析Key words
parallel robot/conformal geometric algebra/kinematic analysis分类
机械制造引用本文复制引用
柴馨雪,李翔毅,汤陈昕,李秦川,徐灵敏..基于共形几何代数的并联机器人逆运动学分析方法[J].农业机械学报,2024,55(3):421-430,10.基金项目
国家自然科学基金项目(52205023、5193000170)、机械系统与振动国家重点实验室开放课题项目(MSV202314)、中国博士后科学基金项目(2021M702123)和中国科协青年人才托举工程项目(2023QNRC001) （52205023、5193000170）
