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Closed-form direct position analysis of stewart platform type parallel manipulator.

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

Identiferoai:union.ndltd.org:cuhk.edu.hk/oai:cuhk-dr:cuhk_320643
Date January 1995
ContributorsLi, Chi Keung., 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, x, 100 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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