Analysis, design and control of parallel manipulators
This project aims to develop a parallel manipulator for light machining operations such as in polishing. With fast motion and changing payload, the manipulator design simplifies the complex computation involved in kinematics and dynamics so as to implement dynamic control. The prototype was based on...
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sg-ntu-dr.10356-58032023-03-11T17:27:55Z Analysis, design and control of parallel manipulators Huang, Tao. Yap, Kian Tiong School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery This project aims to develop a parallel manipulator for light machining operations such as in polishing. With fast motion and changing payload, the manipulator design simplifies the complex computation involved in kinematics and dynamics so as to implement dynamic control. The prototype was based on singularity analysis and workspace optimization, in particular, to avoid architecture singularity so as to achieve the largest volume. The symmetrical three legged manipulator avoids architecture singularity which happens in symmetrical six legged manipulators while also achieving a larger workspace. Doctor of Philosophy (MPE) 2008-09-17T10:59:31Z 2008-09-17T10:59:31Z 1999 1999 Thesis http://hdl.handle.net/10356/5803 Nanyang Technological University application/pdf |
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DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery Huang, Tao. Analysis, design and control of parallel manipulators |
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This project aims to develop a parallel manipulator for light machining operations such as in polishing. With fast motion and changing payload, the manipulator design simplifies the complex computation involved in kinematics and dynamics so as to implement dynamic control. The prototype was based on singularity analysis and workspace optimization, in particular, to avoid architecture singularity so as to achieve the largest volume. The symmetrical three legged manipulator avoids architecture singularity which happens in symmetrical six legged manipulators while also achieving a larger workspace. |
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Yap, Kian Tiong |
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Yap, Kian Tiong Huang, Tao. |
format |
Theses and Dissertations |
author |
Huang, Tao. |
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Huang, Tao. |
title |
Analysis, design and control of parallel manipulators |
title_short |
Analysis, design and control of parallel manipulators |
title_full |
Analysis, design and control of parallel manipulators |
title_fullStr |
Analysis, design and control of parallel manipulators |
title_full_unstemmed |
Analysis, design and control of parallel manipulators |
title_sort |
analysis, design and control of parallel manipulators |
publishDate |
2008 |
url |
http://hdl.handle.net/10356/5803 |
_version_ |
1761781837377568768 |