published_or_final_version / Electrical and Electronic Engineering / Doctoral / Doctor of Philosophy

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University of Macau / Faculty of Science and Technology. / Department of Electromechanical Engineering

by Li Chi Keung. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1995. / Includes bibliographical references (leaves 95-100). / Acknowledgements --- p.ii / Abstract --- p.iii / Notations --- p.vii / List of Figures --- p.viii / List of Tables --- p.x / Chapter Chapter 1 --- Introduction / Chapter 1.1 --- Serial Manipulator and Parallel Manipulator --- p.1 / Chapter 1.2 --- Literature Overview --- p.4 / Chapter 1.3 --- Objective --- p.10 / Chapter Chapter 2 --- Classification and General Approach / Chapter 2.1 --- Overview --- p.11 / Chapter 2.2 --- Classification of Stewart Platform Type Parallel Manipulators --- p.12 / Chapter 2.3 --- Sub-structures of Stewart Platform Type Mechanism --- p.14 / Chapter 2.3.1 --- Point-Line (PL) Structure --- p.14 / Chapter 2.3.2 --- Point-Body (PB) Structure --- p.16 / Chapter 2.3.3 --- Line-Line (LL) Structure --- p.17 / Chapter 2.3.4 --- Line-Body (LB) Structure --- p.21 / Chapter 2.4 --- Approach for Closed-Form Direct Position Analysis --- p.25 / Chapter 2.4.1 --- DOF of Stewart Platform Type Parallel Mechanism --- p.26 / Chapter 2.4.2 --- DOF of Stewart Platform Type Parallel Mechanism with Disconnected Legs --- p.27 / Chapter 2.4.3 --- Formation of Rotation and Translation Matrices --- p.28 / Chapter 2.4.4 --- Formation of Closure Equations --- p.32 / Chapter 2.4.5 --- Elimination of Variables --- p.33 / Chapter 2.4.6 --- Final Solution --- p.35 / Chapter 2.5 --- Summary --- p.35 / Chapter Chapter 3 --- Case Studies / Chapter 3.1 --- Overview --- p.37 / Chapter 3.2 --- Type 5-5 Case II --- p.38 / Chapter 3.3 --- Type 6-5 --- p.47 / Chapter 3.4 --- Type 6-6 with 4 Collinear Joint Centers on Both Link (type 6-6 (L4L)) --- p.51 / Chapter 3.5 --- Type 6-6 with 4 Collinear Joint Centers on Movable Link (type 6-6 (L4B)) --- p.59 / Chapter 3.6 --- Summary --- p.63 / Chapter Chapter 4 --- Singularity Analysis / Chapter 4.2 --- General Theory --- p.64 / Chapter 4.2.1 --- Multiple Root Configuration --- p.64 / Chapter 4.2.2 --- Special Configuration --- p.66 / Chapter 4.2.3 --- Multiple Root Configuration and Special Configuration --- p.66 / Chapter 4.3 --- Examples --- p.66 / Chapter 4.3.2 --- Special Planar Parallel Manipulator --- p.66 / Chapter 4.3.4 --- Special Stewart Platform Type Parallel Manipulator --- p.71 / Chapter 4.4 --- Summary --- p.74 / Chapter Chapter 5 --- Conclusions and Recommendations for Future Research / Chapter 5.1 --- Conclusions --- p.75 / Chapter 5.2 --- Recommendations for Future Research --- p.77 / Appendices / Chapter A.l --- Direct Position Analysis of P5B Structure --- p.79 / Chapter A.2 --- Analytic Expressions for Symbols of Type 5-5 Case II --- p.82 / Chapter A.3 --- Analytic Expressions for Sybmols of Type 6-6 (L4L) --- p.84 / Chapter A.4 --- Mathematica Scripts for Case Studies in Chapter 3 --- p.85 / Chapter A.4.1 --- Type 5-5 Case II --- p.85 / Chapter A.4.2 --- Type 6-6 with 4 Collinear Joint Centers on Both Link Connected Together --- p.91 / Reference --- p.95

by Ho Siu Yan. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1995. / Includes bibliographical references (leaves 105-110). / ACKNOWLEDGEMENT --- p.i / ABSTRACT --- p.ii / NOMENCLATURE --- p.iii / TABLE OF CONTENTS --- p.v / LIST OF FIGURES --- p.vii / Chapter 1 --- INTRODUCTION --- p.1 / Chapter 2 --- FORM-CLOSURE GRASP --- p.9 / Chapter 2.1 --- Condition for Form-closure Grasp --- p.9 / Chapter 2.2 --- Construction of Form-closure Grasp --- p.12 / Chapter 2.3 --- Configuration Stability of Form-closure Grasp --- p.28 / Chapter 2.4 --- Determination of Object Frame from a Form-closure Grasp --- p.33 / Chapter 3 --- DYNAMIC MODEL OF MULTI-ARM SYSTEMS HANDLING ONE OBJECT --- p.36 / Chapter 3.1 --- System Description --- p.36 / Chapter 3.2 --- Manipulator Dynamics --- p.37 / Chapter 3.3 --- Object Dynamics --- p.37 / Chapter 3.4 --- Contact Forces --- p.38 / Chapter 3.5 --- Kinematic Relations --- p.40 / Chapter 3.6 --- Overall System --- p.41 / Chapter 3.7 --- Constraint Space Matrices --- p.42 / Chapter 3.8 --- Motion Space Matrices --- p.48 / Chapter 3.9 --- General Joint Model --- p.54 / Chapter 4 --- FORWARD DYNAMICS OF MULTI-ARM SYSTEMS HANDLING ONE OBJECT --- p.65 / Chapter 4.1 --- Previous Works --- p.65 / Chapter 4.2 --- Modified Approach --- p.69 / Chapter 4.3 --- Constraint Violation Stabilization Method --- p.73 / Chapter 4.4 --- Computation Requirement of the Algorithm --- p.75 / Chapter 5 --- CONCLUSION --- p.78 / Chapter 5.1 --- Future Researches --- p.79 / APPENDICES / Chapter A --- PROOFS AND DISCUSSIONS RELATED TO CHAPTER TWO --- p.81 / Chapter B --- IMPLEMENTATION OF THE ALGORITHM FOR DETERMINING THE OBJECT FRAME FROM A FORM-CLOSURE GRASP --- p.95 / Chapter C --- EXPRESSING WRENCHES WITH ZERO-PITCH WRENCHES --- p.96 / Chapter D --- IMPLEMENTATION OF THE PROPOSED SIMULATION ALGORITHM --- p.98 / REFERENCES --- p.105