Modeling the kinematics of 4R and 2RPR mechanisms using dual quaternions and Clifford algebra
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Abstract (EN)
This thesis consists of the dual quaternions of the kinematics of the RRRR (4R) and RRPR (2RPR) mechanisms and their modeling with Clifford algebra. The first chapter is about introduction, second chapter is about literature and the third chapter is about the basic concepts we used in the thesis. In the fourth chapter, Clifford algebra, rotation, reflection and motor algebra were given. In the fifth chapter, Denavit-Hartenberg representation, forward kinematic equations and forward kinematics of motor algebra were given. In the sixth chapter we give Denavit-Hartenberg parameters forward kinematics, motor equation and kinematic equations of the 4R and 2RPR mechanisms are obtained. Additionally, Matlab program were used for examples. The results and discussions were given in the seventh chapter.
Author
Vedat Dörma
Institution
How to Cite
Vedat Dörma (Master Thesis). Modeling the kinematics of 4R and 2RPR mechanisms using dual quaternions and Clifford algebra, 2018, Van Yüzüncü Yıl Üniversity.
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