Kinematic design of 6-DOF decoupled parallel manipulators
186 p.
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2010
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| Online Access: | https://hdl.handle.net/10356/35981 |
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sg-ntu-dr.10356-359812023-03-11T17:46:34Z Kinematic design of 6-DOF decoupled parallel manipulators Jin, Yan Chen I-Ming School of Mechanical and Aerospace Engineering DRNTU::Engineering::Mechanical engineering::Mechanics and dynamics 186 p. Parallel manipulators (PMs) have many advantages comparing with the serial counterparts, such as high payload capacity, high speed and acceleration, high accuracy and high stiffness. However, usual PMs, like the Stewart platform, suffer from the problems of difficult forward kinematics, coupled motion, and small workspace so as to make motion planning and control difficult in applications. Kinematically decoupled PMs are the best candidates to cope with these drawbacks while keeping the advantages of general PMs. This thesis focuses on issues related to kinematic design of 6-DOF decoupled PMs, including structure synthesis, displacement and singularity models, workspace design, dimension optimization, statics and stiffness models, and constraint errors. The main contributions of this thesis lie in the design methodology on structure synthesis, workspace determination, and constraint error evaluation for decoupled PMs. DOCTOR OF PHILOSOPHY (MAE) 2010-04-23T02:21:43Z 2010-04-23T02:21:43Z 2007 2007 Thesis Jin, Y. (2007). Kinematic design of 6-DOF decoupled parallel manipulators. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/35981 10.32657/10356/35981 application/pdf |
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Nanyang Technological University |
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Asia |
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Singapore Singapore |
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DRNTU::Engineering::Mechanical engineering::Mechanics and dynamics |
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DRNTU::Engineering::Mechanical engineering::Mechanics and dynamics Jin, Yan Kinematic design of 6-DOF decoupled parallel manipulators |
| description |
186 p. |
| author2 |
Chen I-Ming |
| author_facet |
Chen I-Ming Jin, Yan |
| format |
Theses and Dissertations |
| author |
Jin, Yan |
| author_sort |
Jin, Yan |
| title |
Kinematic design of 6-DOF decoupled parallel manipulators |
| title_short |
Kinematic design of 6-DOF decoupled parallel manipulators |
| title_full |
Kinematic design of 6-DOF decoupled parallel manipulators |
| title_fullStr |
Kinematic design of 6-DOF decoupled parallel manipulators |
| title_full_unstemmed |
Kinematic design of 6-DOF decoupled parallel manipulators |
| title_sort |
kinematic design of 6-dof decoupled parallel manipulators |
| publishDate |
2010 |
| url |
https://hdl.handle.net/10356/35981 |
| _version_ |
1761781435592605696 |