A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators
碩士 === 國立臺灣科技大學 === 機械工程系 === 94 === This thesis presents a general method for developing 6-DOF isotropic parallel manipulators with three PPSR or PRPS chains. Isotropy generators satisfying some special conditions are first proposed and then used to develop isotropic manipulators. Many isotropic de...
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ndltd-TW-094NTUS54890722019-05-15T19:18:15Z http://ndltd.ncl.edu.tw/handle/557uad A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators 六自由度3-PRPS及3-PPSR並聯式等向性或近似等向性機器人設計方法之研究 Wen-pao Chang 張文堡 碩士 國立臺灣科技大學 機械工程系 94 This thesis presents a general method for developing 6-DOF isotropic parallel manipulators with three PPSR or PRPS chains. Isotropy generators satisfying some special conditions are first proposed and then used to develop isotropic manipulators. Many isotropic designs can be easily developed, and the developing process does not involve solving any nonlinear equations. The link parameters of the obtained designs, however, must satisfy some special constraints, so we may not obtain the design with desired link parameters. The second part of this work proposes a method for developing nearly isotropic designs with desired link parameters. The nearly isotropic designs are obtained using an optimization method with the desired link parameters as the constraint equations. Kao-Yueh Tsai 蔡高岳 2006 學位論文 ; thesis 69 zh-TW |
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碩士 === 國立臺灣科技大學 === 機械工程系 === 94 === This thesis presents a general method for developing 6-DOF isotropic parallel manipulators with three PPSR or PRPS chains. Isotropy generators satisfying some special conditions are first proposed and then used to develop isotropic manipulators. Many isotropic designs can be easily developed, and the developing process does not involve solving any nonlinear equations. The link parameters of the obtained designs, however, must satisfy some special constraints, so we may not obtain the design with desired link parameters. The second part of this work proposes a method for developing nearly isotropic designs with desired link parameters. The nearly isotropic designs are obtained using an optimization method with the desired link parameters as the constraint equations.
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Kao-Yueh Tsai |
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Kao-Yueh Tsai Wen-pao Chang 張文堡 |
author |
Wen-pao Chang 張文堡 |
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Wen-pao Chang 張文堡 A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators |
author_sort |
Wen-pao Chang |
title |
A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators |
title_short |
A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators |
title_full |
A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators |
title_fullStr |
A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators |
title_full_unstemmed |
A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators |
title_sort |
study on the design of isotropic and nearly isotropic 6-dof 3-prps or 3-ppsr parallel manipulators |
publishDate |
2006 |
url |
http://ndltd.ncl.edu.tw/handle/557uad |
work_keys_str_mv |
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