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
| Identifer | oai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_320643 |
| Date | January 1995 |
| Contributors | Li, Chi Keung., Chinese University of Hong Kong Graduate School. Division of Systems Engineering and Engineering Management. |
| Publisher | Chinese University of Hong Kong |
| Source Sets | The Chinese University of Hong Kong |
| Language | English |
| Detected Language | English |
| Type | Text, bibliography |
| Format | print, x, 100 leaves : ill. ; 30 cm. |
| Rights | Use 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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