The aim of this study is to obtain optimal position and orientation of a trajectory frame with respect to the fixed frame of the manipulator. The work path which is given in the trajectory frame is also constrained in the workspace of the 3 &ndash / PRS parallel kinematic machine. In the analysis, forward and inverse kinematics solutions are derived as well as the inverse dynamics model using Lagrange&rsquo / s Method. Several algorithms governing the motion of the manipulator are developed. Moreover, optimization goals are defined and evaluated with the genetic algorithm.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12615533/index.pdf |
| Date | 01 January 2013 |
| Creators | Kucuk, Ali |
| Contributors | Soylemez, Eres |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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