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Analysis of configuration singularities of platform-type robotic manipulators.

by Lo, Ka-wah. / Thesis (M.Phil.)--Chinese University of Hong Kong, 1995. / Includes bibliographical references (leaves 76-81 (2nd gp.)). / Acknowledgments --- p.i / Abstract --- p.ii / Notations --- p.iii / List of Figures --- p.v / List of Tables --- p.vii / Chapter 1. --- Introduction / Chapter 1.1 --- Motivation --- p.1 / Chapter 1.2 --- Literature Review --- p.4 / Chapter 1.3 --- Objective --- p.10 / Chapter 2. --- Comparison of Different Approaches / Chapter 2.1 --- Sample Manipulator --- p.11 / Chapter 2.1.1 --- Force Decomposition Method --- p.12 / Chapter 2.1.2 --- Forward Rate Kinematics Base Method --- p.15 / Chapter 2.1.3 --- Grassmann Geometry Method --- p.18 / Chapter 2.2 --- Comparison Criteria --- p.20 / Chapter 2.2.1 --- Computational Complexity --- p.20 / Chapter 2.2.2 --- Scope of Application --- p.22 / Chapter 2.3 --- Summary --- p.23 / Chapter 3. --- Enumeration of Configuration Singularity / Chapter 3.1 --- Novel 6 DOF --- p.25 / Chapter 3.1.1 --- Result Analysis --- p.31 / Chapter 3.2 --- A 3 DOF with Symmetric Base --- p.33 / Chapter 3.2.1 --- Result Analysis --- p.35 / Chapter 3.3 --- A 3 DOF with Non-Symmetric Base --- p.36 / Chapter 3.3.1 --- Result Analysis --- p.37 / Chapter 3.4 --- A New Model of 6-SPS Defined by Kong et al --- p.40 / Chapter 3.5 --- A New Class of 6-SPS Platform-Type Parallel Manipulator --- p.45 / Chapter 3.5.1 --- The Hexagonal Base --- p.46 / Chapter 3.5.2 --- The Pentagonal Base --- p.50 / Chapter 3.5.3 --- The Tetragonal Base --- p.52 / Chapter 3.5.4 --- The Triangular Base --- p.55 / Chapter 3.6 --- Summary --- p.59 / Chapter 4. --- Numerical Analysis / Chapter 4.1 --- Parameter Analysis --- p.60 / Chapter 4.1.1 --- One Unknown Variable --- p.61 / Chapter 4.1.2 --- Two Unknown Variables --- p.63 / Chapter 4.2 --- Critical Value of Ratio R/q --- p.69 / Chapter 4.3 --- Summary --- p.72 / Chapter 5. --- Conclusions and Future Work / Chapter 5.1 --- Conclusions --- p.73 / Chapter 5.2 --- Future Work --- p.75 / References --- p.76 / Appendix --- p.82

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_320642
Date January 1995
ContributorsLo, Ka-wah., Chinese University of Hong Kong Graduate School. Division of Systems Engineering and Engineering Management.
PublisherChinese University of Hong Kong
Source SetsThe Chinese University of Hong Kong
LanguageEnglish
Detected LanguageEnglish
TypeText, bibliography
Formatprint, vii, 83, [60] leaves : ill. ; 30 cm.
RightsUse of this resource is governed by the terms and conditions of the Creative Commons “Attribution-NonCommercial-NoDerivatives 4.0 International” License (http://creativecommons.org/licenses/by-nc-nd/4.0/)

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