Analysis, design and control of parallel manipulators

Abstract

This project aims to develop a parallel manipulator for light machining operations such as in polishing. With fast motion and changing payload, the manipulator design simplifies the complex computation involved in kinematics and dynamics so as to implement dynamic control. The prototype was based on singularity analysis and workspace optimization, in particular, to avoid architecture singularity so as to achieve the largest volume. The symmetrical three legged manipulator avoids architecture singularity which happens in symmetrical six legged manipulators while also achieving a larger workspace.