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Kinematics, singularity and design of parallel robotsYang, Yawei. January 2008 (has links)
Thesis (Ph.D.)--University of Wyoming, 2008. / Title from PDF title page (viewed on June 27, 2009). Includes bibliographical references (p. 95-100).
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Design and control of a three degree-of-freedom planar parallel robotJoshi, Atul Ravindra. January 2003 (has links)
Thesis (M.S.)--Ohio University, August, 2003. / Title from PDF t.p. Includes bibliographical references (leaves 53-55).
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Kinematics, dynamics and control of high precision parallel manipulatorsCheung, Wing-fung, Jacob. January 2007 (has links)
Thesis (Ph. D.)--University of Hong Kong, 2007. / Title proper from title frame. Also available in printed format.
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Contributions to the optimum design of Schönflies motion generatorsGauthier, Jean-François, January 1900 (has links)
Thesis (M.Eng.). / Written for the Dept. of Mechanical Engineering. Title from title page of PDF (viewed 2008/07/29). Includes bibliographical references.
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Design of a low cost, high speed robot for poultry processingAnderson, Eric William. January 2004 (has links) (PDF)
Thesis (M.S.)--School of Mechanical Engineering, Georgia Institute of Technology, 2005. Directed by Harvey Lipkin. / Imme Ebert-Uphoff, Committee Member ; Wayne Book, Committee Member ; Harvey Lipkin, Committee Chair. Includes bibliographical references.
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Kinematics, dynamics and control of high precision parallel manipulatorsCheung, Wing-fung, Jacob., 張穎鋒. January 2007 (has links)
published_or_final_version / abstract / Electrical and Electronic Engineering / Doctoral / Doctor of Philosophy
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Cable suspended parallel robots design, workspace, and control /Pusey, Jason L. January 2006 (has links)
Thesis (M.S.M.E.)--University of Delaware, 2006. / Principal faculty advisor: Sunil K. Agrawal, Dept. of Mechanical Engineering. Includes bibliographical references.
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DESIGN AND SYSTEM IDENTIFICATION OF A MOBILE PARALLEL ROBOTHan Lin (18516603) 08 May 2024 (has links)
<p dir="ltr">The research presents the structure and a prototype an innovative parallel robotic structure using 3 mobile bases for actuation and hybrid motion. A system identification was performed to verify the model of the robot.</p>
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Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant ActuationVoglewede, Philip Anthony 16 April 2004 (has links)
At a platform singularity, a parallel manipulator loses constraint. Adding redundant actuation in an existing leg or new leg can eliminate these types of singularities. However, redundant manipulators have been designed with little attention to frame invariant techniques.
In this dissertation, physically meaningful measures for closeness to singularities in non-redundant manipulators are developed. Two such frameworks are constructed. The first framework is a constrained optimization problem that unifies seemingly unrelated existing measures and facilitates development of new measures. The second is a clearance propagation technique based on workspace generation.
These closeness measures are expanded to include redundancy and thus can be used as objective functions for designing redundant actuation. The constrained optimization framework is applied to a planar three degree of freedom redundant parallel manipulator to show feasibility of the technique.
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Des droites à la dynamique des robots parallèles / From lines to dynamics of parallel robotsÖzgür, Erol 13 July 2012 (has links)
Cette thèse présente des nouvelles approches de modélisation, de tracking et de commande des robots parallèles en utilisant des droites. Un robot parallèle est composé de plusieurs chaînes cinématiques fermées. Par conséquent, un fort couplage de comportement apparait durant le mouvement du robot. La géométrie (squelette) d’un robot parallèle peut être définie en considérant les jambes de ce robot comme des droites 3D. C’est ainsi que la modélisation, le suivi visuel et la commande d’un robot parallèle devient plus simple et que sa représentation géométrique et physique est plus intuitive. Le point commun des méthodes proposées est l’observation des orientations 3D des jambes avec précision et à des grandes vitesses. Cela permet de commander les robots parallèles rapides avec précision. Pour la modélisation cinématique et dynamique des robots parallèles, nous avons développé une représentation basée sur les éléments cinématiques. Cette représentation rend la modélisation simple et immédiate. Les modèles obtenus sont basés sur les mesures des orientations des jambes et leurs vitesses. Par conséquent, nous avons ainsi proposé un observateur d’état dynamique à haute vitesse qui peut fournir les orientations des jambes et leurs vitesses. Cette procédure consiste à observer d’une manière séquentielle une portion de chaque jambe. Nous avons utilisé ces contours pour construire une consigne spatio-temporelle. Par conséquent, nous avons pu écrire des contraintes géométriques minimisées en une seule itération d’une tâche d’asservissement visuel virtuel. Ensuite, nous avons proposé une commande dynamique pour contrôler un robot parallèle dans différents espaces de commande. Ce qui nous a permis de mener des analyses pour identifier l’espace le plus adéquat pour réaliser une tâche spécifique. Ces nouvelles approches sont validées en simulation et, partiellement, en expérimentation. Les résultats obtenus sont satisfaisants et ouvrent des perspectives dans le domaine de la modélisation, du suivi visuel et de la commande des robots parallèles basé sur l’observation des jambes. / This thesis presents novel methods for modeling, tracking and control of parallel robots by means of lines. A parallel robot is composed of several closed-loop kinematic chains which cause a highly coupled-motion behavior. By treating the legs of a parallel robot as 3D lines and representing the geometry with a skeleton constructed from these 3D lines of the legs, the modeling, tracking and control of a parallel robot become geometrically and physically simpler and more intuitive. The common key point for the simplicity and accuracy of all these methods is the precise observation of the 3D orientation vectors of the legs at high speed. This is because of parallel robots are designed for high speed applications. Thus, we first developed a body-based linear scheme both for kinematic and dynamic modeling of parallel robots. This body-based linear modeling scheme is so simple such that one can work out all the equations even for the most complex parallel robot by pen and paper. The simplicity and feasibility of this modeling scheme are conditioned on that the 3D leg direction vectors and their velocities are known. Therefore, secondly we proposed a high-speed vision based dynamic state observer which can provide these 3D leg direction vectors of a parallel robot and their velocities at each sampling time. We achieved this by sequentially observing small portions of the legs in order to form a spatio-temporal reference signal and then by minimizing the constraints written from the geometric shapes of the legs in a single-iteration virtual visual servoing scheme. Afterwards, we constructed a versatile computed-torque control scheme which allows us to control the parallel robot for a given task in different control spaces. We defined this versatile control scheme so that we can analyse and then choose the best control space for better control of parallel robots for a given specific task. These proposed novel methods are validated by the first promising simulation and experimental results. Obtained results encourage us to explore more the modeling, tracking and control of parallel robots by means of lines.
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