A study on the design of Isotropic and Nearly Isotropic 6-DOF 3-PRPS or 3-PPSR Parallel Manipulators

• Main Authors: Wen-pao Chang, 張文堡
• Other Authors: Kao-Yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/557uad

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.