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Kinematics, singularity and design o...

University of Wyoming., Electrical & Computer Engineering.

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Kinematics, singularity and design of parallel robots.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Kinematics, singularity and design of parallel robots./
Author:	Yang, Yawei.
Description:	110 p.
Notes:	Adviser: John F. O'Brien.
Contained By:	Dissertation Abstracts International69-09B.
Subject:	Engineering, Electronics and Electrical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3326992
ISBN:	9780549795322

Kinematics, singularity and design of parallel robots.
Yang, Yawei.

Kinematics, singularity and design of parallel robots. - 110 p.

Adviser: John F. O'Brien.

Thesis (Ph.D.)--University of Wyoming, 2008.

Manipulators, usually resembling a human arm, are widely used in industry. The most popular manipulators are serial chain manipulators. But low transportable load and poor accuracy increasingly become problems of the usage with such kinds of robots. Consequently, closed loop chain mechanisms are introduced to resolve these problems. In comparison to serial robots, parallel robots have many advantages. But the complexity of singularity analysis and relatively small workspace are the major drawbacks for parallel robots.

ISBN: 9780549795322Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Kinematics, singularity and design of parallel robots.
LDR:02920nam 2200337 a 45 001 852756
005 20100630
008 100630s2008 ||||||||||||||||| ||eng d
020 $a 9780549795322
035 $a (UMI)AAI3326992
035 $a AAI3326992
040 $a UMI $c UMI
100 1 $a Yang, Yawei. $3 1018770
245 1 0 $a Kinematics, singularity and design of parallel robots.
300 $a 110 p.
500 $a Adviser: John F. O'Brien.
500 $a Source: Dissertation Abstracts International, Volume: 69-09, Section: B, page: 5681.
502 $a Thesis (Ph.D.)--University of Wyoming, 2008.
520 $a Manipulators, usually resembling a human arm, are widely used in industry. The most popular manipulators are serial chain manipulators. But low transportable load and poor accuracy increasingly become problems of the usage with such kinds of robots. Consequently, closed loop chain mechanisms are introduced to resolve these problems. In comparison to serial robots, parallel robots have many advantages. But the complexity of singularity analysis and relatively small workspace are the major drawbacks for parallel robots.
520 $a This thesis is focused on singularity analysis and kinematic design of parallel robots. The thesis makes three major contributions to the research of parallel robot kinematics. Firstly, the determination of unmanipulable singularities are presented. Through the decomposition of the composite manipulability Jacobian, they are identified as single-arm singularities or coincident with unstable singularities. Secondly, singularities are classified due to their relationship with the design purpose. A sequential design procedure is introduced for singularity free workspace design. For an n-arm parallel robot, n-1 arms are designed first to satisfy workspace requirements, then the last arm is designed to provide a singularity-free workspace. Planar and spatial parallel mechanism singularity-free workspace design examples are presented to verify the efficacy of this design method. Modeling of this design method is discussed, and optimization tools are suggested to solve the design problem. Thirdly, a novel 6-Degree Of Freedom composite parallel mechanism is introduced. It consists of two parallel mechanism--the planar 3-RP&barbelow;R and the spatial 3-UP&barbelow;S-1-PU. Inverse kinematics and singularity of this mechanism are analyzed. Different combinations are demonstrated for different applications.
590 $a School code: 0264.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0544
690 $a 0771
710 2 $a University of Wyoming. $b Electrical & Computer Engineering. $3 1018769
773 0 $t Dissertation Abstracts International $g 69-09B.
790 $a 0264
790 1 0 $a Hamann, Jerry C. $e committee member
790 1 0 $a Jafari, Farhad $e committee member
790 1 0 $a McInroy, John E. $e committee member
790 1 0 $a O'Brien, John F., $e advisor
790 1 0 $a Stefanovic, Margareta $e committee member
791 $a Ph.D.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3326992