POC Analysis of Parallel Mechanisms Based on Conformal Geometric Algebra Description Method
Conformal geometric algebra (CGA) as an effective mathematical tool for geometric representation and computation, is introduced to position and orientation characteristics (POC) analysis of parallel mechanisms (PMs) in this paper. A group of sic bivectors are derived in 5 dimensional conformal space to describe the joint axes and applied as independent bases to operation of mechanisms characteristics. Based on this, the POC and motion output characteristics of PMs can be obtained by the symbolic operation. Two types of PMs are analyzed by using this proposed method which shows conciseness and intuition.