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Direct and inverse kinematics of a n...

Carleton University (Canada).

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Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator./
Author:	Robinson, James D.
Description:	148 p.
Notes:	Source: Masters Abstracts International, Volume: 46-05, page: 2840.
Contained By:	Masters Abstracts International46-05.
Subject:	Engineering, Mechanical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR36832
ISBN:	9780494368329

Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator.
Robinson, James D.

Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator. - 148 p.

Source: Masters Abstracts International, Volume: 46-05, page: 2840.

Thesis (M.A.Sc.)--Carleton University (Canada), 2008.

Increasing the stiffness-to-weight ratio of serial manipulators is important in applications where a stiff manipulator with a large workspace and low weight is required. Traditional six degree-of-freedom (DOF) serial manipulators often utilize six revolute joints (6R-manipulator) and possess a large workspace, however in order to make them stiff the addition of structural weight is required in both the joint and link structure. Six DOF parallel manipulators, such as the Stewart-Gough platform (SGP), are very rigid with a high stiffness-to-weight ratio but possess a significantly smaller workspace. Hybrid manipulators attempt to use the positive characteristics of both types of manipulators to produce a manipulator with a high stiffness-to-weight ratio and a large workspace. The Griffis-Duffy platform (GDP) is a special configuration of SGP that is, in most configurations, subject to self-motions. Self-motions occur when a manipulator can move without actuator input, a usually undesirable characteristic. In this thesis a special configuration of GDP possessing well defined one DOF self-motion is used as a kinematic pair, replacing the revolute joints of a 6R-manipulator in an attempt to increase the stiffness of the manipulator without a significant increase in structural weight. The kinematic pair constructed using the GDP is called an A-pair and a manipulator utilizing n A-pairs as joints is called an nA-manipulator.

ISBN: 9780494368329Subjects--Topical Terms:

783786
Engineering, Mechanical.

Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator.
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020 $a 9780494368329
035 $a (UMI)AAIMR36832
035 $a AAIMR36832
040 $a UMI $c UMI
100 1 $a Robinson, James D. $3 1018787
245 1 0 $a Direct and inverse kinematics of a new class of serial-parallel hybrid manipulator.
300 $a 148 p.
500 $a Source: Masters Abstracts International, Volume: 46-05, page: 2840.
502 $a Thesis (M.A.Sc.)--Carleton University (Canada), 2008.
520 $a Increasing the stiffness-to-weight ratio of serial manipulators is important in applications where a stiff manipulator with a large workspace and low weight is required. Traditional six degree-of-freedom (DOF) serial manipulators often utilize six revolute joints (6R-manipulator) and possess a large workspace, however in order to make them stiff the addition of structural weight is required in both the joint and link structure. Six DOF parallel manipulators, such as the Stewart-Gough platform (SGP), are very rigid with a high stiffness-to-weight ratio but possess a significantly smaller workspace. Hybrid manipulators attempt to use the positive characteristics of both types of manipulators to produce a manipulator with a high stiffness-to-weight ratio and a large workspace. The Griffis-Duffy platform (GDP) is a special configuration of SGP that is, in most configurations, subject to self-motions. Self-motions occur when a manipulator can move without actuator input, a usually undesirable characteristic. In this thesis a special configuration of GDP possessing well defined one DOF self-motion is used as a kinematic pair, replacing the revolute joints of a 6R-manipulator in an attempt to increase the stiffness of the manipulator without a significant increase in structural weight. The kinematic pair constructed using the GDP is called an A-pair and a manipulator utilizing n A-pairs as joints is called an nA-manipulator.
520 $a Implementing a novel joint architecture requires an investigation of the manipulator kinematics. This thesis explores the direct and inverse kinematics problem of A-manipulators. It is shown that the direct kinematics of A-manipulators is no more complicated than that of R-manipulators while the inverse kinematics problem is more challenging. In this thesis an algorithm for solving the inverse kinematics problem, that is obtaining all sets of joint variables that place the end effector (EE) of the manipulator in a desired pose, using kinematic mapping is proposed. The algorithm, which is applied to 4A- and 6A-manipulators, theoretically breaks the manipulators into two sub-chains (2A- and 3A-chains respectively). For each new chain a technique called kinematic mapping is used to represent the displacements of the EE of each sub-chain as points in a seven dimensional projective space, P7. The set of all points achievable by any chain is called the constraint variety. By intersecting the constraint varieties of the sub-chains in P 7, the solution of the inverse kinematics problem for the A-manipulator is obtained.
590 $a School code: 0040.
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0548
690 $a 0771
710 2 $a Carleton University (Canada). $3 1018407
773 0 $t Masters Abstracts International $g 46-05.
790 $a 0040
791 $a M.A.Sc.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=MR36832