Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators

The focus of this work is on a class of three-legged modular reconfigurable parallel manipulators having spherical end joints. In the study on instantaneous kinematics, easy generic and intuitive method of determine reciprocal screws based on POE scheme is proposed using twist annihilators.

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Bibliographic Details
Main Author:	Anjan Kumar Dash
Other Authors:	Chen, I-Ming
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Robots
Online Access:	http://hdl.handle.net/10356/5851
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-5851
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spelling	sg-ntu-dr.10356-58512023-03-11T16:55:08Z Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators Anjan Kumar Dash Chen, I-Ming School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering::Robots The focus of this work is on a class of three-legged modular reconfigurable parallel manipulators having spherical end joints. In the study on instantaneous kinematics, easy generic and intuitive method of determine reciprocal screws based on POE scheme is proposed using twist annihilators. Doctor of Philosophy (MPE) 2008-09-17T11:00:40Z 2008-09-17T11:00:40Z 2004 2004 Thesis http://hdl.handle.net/10356/5851 Nanyang Technological University application/pdf
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
topic	DRNTU::Engineering::Mechanical engineering::Robots
spellingShingle	DRNTU::Engineering::Mechanical engineering::Robots Anjan Kumar Dash Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
description	The focus of this work is on a class of three-legged modular reconfigurable parallel manipulators having spherical end joints. In the study on instantaneous kinematics, easy generic and intuitive method of determine reciprocal screws based on POE scheme is proposed using twist annihilators.
author2	Chen, I-Ming
author_facet	Chen, I-Ming Anjan Kumar Dash
format	Theses and Dissertations
author	Anjan Kumar Dash
author_sort	Anjan Kumar Dash
title	Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
title_short	Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
title_full	Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
title_fullStr	Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
title_full_unstemmed	Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
title_sort	kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators
publishDate	2008
url	http://hdl.handle.net/10356/5851
_version_	1761782016942014464

Kinematic analysis and optimal design of three-legged reconfigurable parallel manipulators

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