The study of joint-coupling in parallel manipulator design

A parallel manipulator (PM) is a closed-loop kinematic mechanism whose end-effector is connected to the base by several kinematic chains. PMs have attractive features of high speed, high accuracy, high pay load ratio and low inertia. However, lack in workspace dimensions, more complex direct kinemat...

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Bibliographic Details
Main Author:	Theingi
Other Authors:	Chen I-Ming
Format:	Theses and Dissertations
Published:	2008
Subjects:	DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery
Online Access:	https://hdl.handle.net/10356/6532
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Institution:	Nanyang Technological University

id	sg-ntu-dr.10356-6532
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spelling	sg-ntu-dr.10356-65322023-03-11T17:37:12Z The study of joint-coupling in parallel manipulator design Theingi Chen I-Ming School of Mechanical and Aerospace Engineering Li Chuan DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery A parallel manipulator (PM) is a closed-loop kinematic mechanism whose end-effector is connected to the base by several kinematic chains. PMs have attractive features of high speed, high accuracy, high pay load ratio and low inertia. However, lack in workspace dimensions, more complex direct kinematics and singularities within the workspace make the applications of manipulators difficult. Singularity is the most serious among these drawbacks, because the manipulator loses or gains mobility and becomes uncontrollable in this condition. To overcome singularity conditions, the concept of joint-coupling (JC) is introduced and studied in this work. DOCTOR OF PHILOSOPHY (MPE) 2008-09-17T11:17:26Z 2008-09-17T11:17:26Z 2005 2005 Thesis Theingi. (2005). The study of joint-coupling in parallel manipulator design. Doctoral thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/6532 10.32657/10356/6532 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::Kinematics and dynamics of machinery
spellingShingle	DRNTU::Engineering::Mechanical engineering::Kinematics and dynamics of machinery Theingi The study of joint-coupling in parallel manipulator design
description	A parallel manipulator (PM) is a closed-loop kinematic mechanism whose end-effector is connected to the base by several kinematic chains. PMs have attractive features of high speed, high accuracy, high pay load ratio and low inertia. However, lack in workspace dimensions, more complex direct kinematics and singularities within the workspace make the applications of manipulators difficult. Singularity is the most serious among these drawbacks, because the manipulator loses or gains mobility and becomes uncontrollable in this condition. To overcome singularity conditions, the concept of joint-coupling (JC) is introduced and studied in this work.
author2	Chen I-Ming
author_facet	Chen I-Ming Theingi
format	Theses and Dissertations
author	Theingi
author_sort	Theingi
title	The study of joint-coupling in parallel manipulator design
title_short	The study of joint-coupling in parallel manipulator design
title_full	The study of joint-coupling in parallel manipulator design
title_fullStr	The study of joint-coupling in parallel manipulator design
title_full_unstemmed	The study of joint-coupling in parallel manipulator design
title_sort	study of joint-coupling in parallel manipulator design
publishDate	2008
url	https://hdl.handle.net/10356/6532
_version_	1761781269025259520

The study of joint-coupling in parallel manipulator design

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