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Kinematic modeling and analysis of a parallel-series hybrid manipulator

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Date Issued:
1993
Summary:
Traditional industrial manipulators possess fixed configuration and are widely used in manufacturing application in which the manipulator base is fixed. However, some applications exist which would require the robotic manipulators to function in non-stationary environment especially in space. In this thesis, a six degree of freedom parallel-series hybrid manipulator is described. It consists of a 3 d.o.f. in-series manipulator mounted on a 3 d.o.f. in-parallel manipulator. A compatibility equation is found to govern the relationship between in-series component angular velocity and linear velocity; a constraint equation is added to the Jacobian of in-parallel component. Using these two equations, a decomposition strategy is proposed for solving the inverse velocity problem of the hybrid manipulator together with the simulation examples of inverse position tracking and straight line trajectory planning. Effectiveness of this method and factors affecting the simulation result are examined.
Title: Kinematic modeling and analysis of a parallel-series hybrid manipulator.
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Name(s): Sheng, Yang.
Florida Atlantic University, Degree grantor
Huang, Ming Z., Thesis advisor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 1993
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 123 p.
Language(s): English
Summary: Traditional industrial manipulators possess fixed configuration and are widely used in manufacturing application in which the manipulator base is fixed. However, some applications exist which would require the robotic manipulators to function in non-stationary environment especially in space. In this thesis, a six degree of freedom parallel-series hybrid manipulator is described. It consists of a 3 d.o.f. in-series manipulator mounted on a 3 d.o.f. in-parallel manipulator. A compatibility equation is found to govern the relationship between in-series component angular velocity and linear velocity; a constraint equation is added to the Jacobian of in-parallel component. Using these two equations, a decomposition strategy is proposed for solving the inverse velocity problem of the hybrid manipulator together with the simulation examples of inverse position tracking and straight line trajectory planning. Effectiveness of this method and factors affecting the simulation result are examined.
Identifier: 14893 (digitool), FADT14893 (IID), fau:11678 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 1993.
Subject(s): Kinematics
Robotics--Computer programs
Manipulators (Mechanism)
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/14893
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.