This thesis treats type synthesis and kinematic analysis of translational parallel manipulators (TPMs) from a group theoretical point of view. / For the TPM type synthesis, based on displacement group theory (DGT), TPM leg motion is represented by a series of displacement subgroups. For symmetrical three-legged TPMs, three categories are classified and a total of 90 architectures are proposed. For asymmetrical three-legged TPMs, 13 cases of possible leg combinations are presented and some possible constructions of TPMs are shown. The advantages of DGT in mechanism synthesis are described. / For the kinematic analysis of symmetrical TPMs, geometric elements are employed to denote the workspace of different leg links. Solutions of the inverse and direct kinematics of a certain example are obtained. Moreover, the proposed approach is applied to a class of TPMs, and the corresponding geometric representations are listed. The applicability of the proposed approach is discussed as well. / This thesis provides a theoretical approach to design TPMs and analyze their kinematics for practical applications.
| Identifer | oai:union.ndltd.org:LACETR/oai:collectionscanada.gc.ca:QMM.82642 |
| Date | January 2005 |
| Creators | Wei, Wei, 1982- |
| Publisher | McGill University |
| Source Sets | Library and Archives Canada ETDs Repository / Centre d'archives des thèses électroniques de Bibliothèque et Archives Canada |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation |
| Format | application/pdf |
| Coverage | Master of Engineering (Department of Mechanical Engineering.) |
| Rights | All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| Relation | alephsysno: 002227037, proquestno: AAIMR12656, Theses scanned by UMI/ProQuest. |
Page generated in 0.0017 seconds