Kinematic design of 6-DOF decoupled parallel manipulators
Date of Issue2007
School of Mechanical and Aerospace Engineering
Parallel manipulators (PMs) have many advantages comparing with the serial counterparts, such as high payload capacity, high speed and acceleration, high accuracy and high stiffness. However, usual PMs, like the Stewart platform, suffer from the problems of difficult forward kinematics, coupled motion, and small workspace so as to make motion planning and control difficult in applications. Kinematically decoupled PMs are the best candidates to cope with these drawbacks while keeping the advantages of general PMs. This thesis focuses on issues related to kinematic design of 6-DOF decoupled PMs, including structure synthesis, displacement and singularity models, workspace design, dimension optimization, statics and stiffness models, and constraint errors. The main contributions of this thesis lie in the design methodology on structure synthesis, workspace determination, and constraint error evaluation for decoupled PMs.
DRNTU::Engineering::Mechanical engineering::Mechanics and dynamics