Kinematic Analysis of the CaPaMan2 Parallel Manipulator
| Autor: | Chun-Hao Tsao, 曹君豪 |
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| Rok vydání: | 2008 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 96 Moving platform’s motion constraints of the parallel manipulator CaPaMan2 are first derived in this thesis. These constraints are then used to find the manipulator’s workspace and the range of driving angles. Velocity constraints are obtained by taking the first time derivatives of the motion constraints, and constraint singularity positions may be defined as positions making Jacobian matrices in velocity constraints singular. In this study several constraint singularity positions, as well as inverse and forward singular position, are determined. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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