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This paper presents the research and development of a 3-legged micro Parallel Kinematic Manipulator (PKM) for positioning in micro-machining and assembly operations. The structural characteristics associated with parallel manipulators are evaluated and the PKMs with translational and rotational movements are identified. Based on these identifications, a hybrid 3-UPU (Universal Joint-Prismatic Joint-Universal Joint) parallel manipulator is designed and fabricated. The principles of the operation and modeling of this micro PKM is largely similar to a normal size Stewart Platform (SP). A modular design methodology is introduced for the construction of this micro PKM. Calibration results of this hybrid 3-UPU PKM are discussed in this paper. / Singapore-MIT Alliance (SMA)

The Kinematic-wave model is one of the models proposed to simulate vehicular traffic. It has not received widespread use because of poor understanding of associated interface conditions and early use of incorrect numerical schemes used. This thesis analyzes mathematically correct boundary and interface conditions in the context of the Godunov method as the numerical scheme for the simulation software created. This thesis simulates a set of scenarios originally proposed by Ross, to verify the validity of simulation. The results of the simulation are compared against the corresponding results of Ross, and against intuitive expectation of the behavior of actual traffic under the scenarios. Our results tend either to agree with or improve upon those reported by Ross, who used alternate models.

This thesis describes the research I did during my Master's study. I investigated the stau-neutralino coannihilation region of the Mirage Mediation Model at the Large Hadron Collider (LHC). By constructing five kinematic observables at the LHC, the masses of supersymmetric particles (sparticles) were determined. The Mirage Mediation Model parameters were determined from the sparticles' masses. This is the first time to establish the Mirage Mediation Model at the LHC. All these techniques can be applied to other coannihilation regions of the Mirage Mediation Model and other supersymmetry (SUSY) models.

The thesis is about design and analysis of a PKM with 3 DOF. The new PKM is designed as a machine tool in various applications in manufacturing. The PKM is optimized based on the developed stiffness model. Kinematics and dynamics of the new PKM is also modeled and simulated. / UOIT

This thesis presents two unique micro-motion parallel kinematic manipulators (PKM): a three degrees of freedom (3-DOF) micro-motion manipulator and a 3-DOF micro-motion manipulator with actuation redundancy. The 3-DOF micro-motion manipulator has three linear-motion driving units, and the 3-DOF micro-motion manipulator with redundancy has four of these units. For both designs, the linear motion driving units are identical, and both machines have a passive link in the center of the structure. The purpose of this passive link is to restrain the movement of the manipulator and to improve the stiffness of the structure. As a result, both structures support 3-DOF, including one translation on the Z-axis and two rotations around the X and Y axes. The manipulator with redundancy is designed to prevent singularity and to improve stiffness. In this thesis, the inverse kinematic, Jacobian matrix and stiffness analyses have been conducted, followed by the design optimization for structures. Finally, the FEA (Finite Element Analysis) and dynamic analysis have also been performed. There are many practical applications for micro-motion parallel manipulators. The typical applications include micro-machine assembly, biological cell operation, and microsurgery . / UOIT

No description available.

The Kinematic-wave model is one of the models proposed to simulate vehicular traffic. It has not received widespread use because of poor understanding of associated interface conditions and early use of incorrect numerical schemes used. This thesis analyzes mathematically correct boundary and interface conditions in the context of the Godunov method as the numerical scheme for the simulation software created. This thesis simulates a set of scenarios originally proposed by Ross, to verify the validity of simulation. The results of the simulation are compared against the corresponding results of Ross, and against intuitive expectation of the behavior of actual traffic under the scenarios. Our results tend either to agree with or improve upon those reported by Ross, who used alternate models.

The aim of using parallel kinematic motion systems as an alternative of conventional machine tools for precision machining has raised the demands made on the accuracy of identification of the geometric parameters that are necessary for the kinematic transformation of the motion variables. The accuracy of a parallel manipulator is not only dependent upon an accurate control of its actuators but also upon a good knowledge of its geometrical characteristics. As the platform's controller determines the length of the actuators according to the nominal model, the resulted pose of the platform is inaccurate. One way to enhance platform accuracy is by kinematic calibration, a process by which the actual kinematic parameters are identified and then implemented to modify the kinematic model used by the controller. The first and most general valuation criterion for the actual calibration approaches is the relative improvement of the motion accuracy, eclipsing the other aspects to pay for it. The calibration outlay has been underestimated or even neglected for a long time. The scientific value of the calibration procedure is not only in direct proportion to the achieved accuracy, but also to the calibration effort. These demands become particularly stringent in case of the calibration of hexapods of the so-called simple design. The objectives of the here proposed new calibration procedure are based on the deficits mentioned above under the special requirements due to the circumstances of the simple design-concept. The main goals of the procedure can be summarized in obtaining the basics for an automated kinematic calibration procedure which works efficiently, quickly, effectively and possibly low-cost, all-in-one economically applied to the parallel kinematic machines. The problem will be approached systematically and taking step by step the necessary conclu-sions and measurements through: Systematical analysis of the workspace to determine the optimal measuring procedure, measurements with automated data acquisition and evaluation, simulated measurements based on the kinematic model of the structure and identifying the kinematic parameters using efficient optimization algorithms. The presented calibration has been successfully implemented and tested on the hexapod of simple design `Felix' available at the IWM, TU Dresden. The obtained results encourage the application of the procedure to other hexapod structures.

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