The purpose of the thesis is to achieve a hybrid force and motion control
method of parallel manipulators working in a constrained environment, in the
presence of joint flexibility that occurs at the actuated joints.
A flexible joint is modeled and the equations of motion of the parallel
manipulator are derived by using the Lagrange formulation. The structural
damping of the active joints, viscous friction at the passive joints and the rotor
damping are also considered in the model. It is shown that in a flexible joint
manipulator, the acceleration level inverse dynamic equations are singular
because the control torques do not have instantaneous effect on the manipulator
end-effector contact forces and accelerations due to the flexibility. Implicit
numerical integration methods are utilized for solving the singular equations.
As a case study, a two legged constrained planar parallel manipulator with
three degrees of freedom is simulated to illustrate the performance of the
method.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12611548/index.pdf |
| Date | 01 February 2010 |
| Creators | Ogan, Osman Can |
| Contributors | Ider, Kemal |
| 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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