A STUDY ON THE COMPATIBLE WORKSPACE OF 6-DOF PARALLEL MANIPULATORS
| Autor: | Yin-ting Lo, 羅伊婷 |
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| Rok vydání: | 2012 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 100 Determining the reachable workspace of a 6-DOF parallel manipulator is an extremely complicated task, and the workspace obtained might be a theoretical workspace with some of its subspaces cannot be reached through a continuous motion starting from the initial assembly configuration. The boundary of a compatible workspace (or continuous motion workspace) consists of many patches, and there are hundreds of possible sets of four constraint equations that can generate a patch. The existing method uses coordinate transformations and the Jacobian matrix to search for the equations for each patch. This work shows that once the correct set of equation for a segment on the workspace boundary is determined from two possible sets of equations, the equations to develop the whole workspace boundary can be predicted using simple geometric properties and some special characteristics of the workspace. No coordinate transformation or the Jacobian matrix is needed in this approach. The inverse kinematics is commonly used to detect where to change the equations for a different patch. This work presents an approximation method to predict the position to change the equations, so the workspace boundary can be developed without using the inverse kinematics. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
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