Analysis of configuration singularities of platform-type robotic manipulators.

• Other Authors: Lo, Ka-wah.
• Format: Others
• Language: English
• Published: Chinese University of Hong Kong 1995
• Subjects: Robot hands; Manipulators (Mechanism); Singularities (Mathematics)
• Online Access: http://library.cuhk.edu.hk/record=b5888477; http://repository.lib.cuhk.edu.hk/en/item/cuhk-320642

by Lo, Ka-wah. === Thesis (M.Phil.)--Chinese University of Hong Kong, 1995. === Includes bibliographical references (leaves 76-81 (2nd gp.)). === Acknowledgments --- p.i === Abstract --- p.ii === Notations --- p.iii === List of Figures --- p.v === List of Tables --- p.vii === Chapter 1. --- Introduction === Chapter 1.1 --- Motivation --- p.1 === Chapter 1.2 --- Literature Review --- p.4 === Chapter 1.3 --- Objective --- p.10 === Chapter 2. --- Comparison of Different Approaches === Chapter 2.1 --- Sample Manipulator --- p.11 === Chapter 2.1.1 --- Force Decomposition Method --- p.12 === Chapter 2.1.2 --- Forward Rate Kinematics Base Method --- p.15 === Chapter 2.1.3 --- Grassmann Geometry Method --- p.18 === Chapter 2.2 --- Comparison Criteria --- p.20 === Chapter 2.2.1 --- Computational Complexity --- p.20 === Chapter 2.2.2 --- Scope of Application --- p.22 === Chapter 2.3 --- Summary --- p.23 === Chapter 3. --- Enumeration of Configuration Singularity === Chapter 3.1 --- Novel 6 DOF --- p.25 === Chapter 3.1.1 --- Result Analysis --- p.31 === Chapter 3.2 --- A 3 DOF with Symmetric Base --- p.33 === Chapter 3.2.1 --- Result Analysis --- p.35 === Chapter 3.3 --- A 3 DOF with Non-Symmetric Base --- p.36 === Chapter 3.3.1 --- Result Analysis --- p.37 === Chapter 3.4 --- A New Model of 6-SPS Defined by Kong et al --- p.40 === Chapter 3.5 --- A New Class of 6-SPS Platform-Type Parallel Manipulator --- p.45 === Chapter 3.5.1 --- The Hexagonal Base --- p.46 === Chapter 3.5.2 --- The Pentagonal Base --- p.50 === Chapter 3.5.3 --- The Tetragonal Base --- p.52 === Chapter 3.5.4 --- The Triangular Base --- p.55 === Chapter 3.6 --- Summary --- p.59 === Chapter 4. --- Numerical Analysis === Chapter 4.1 --- Parameter Analysis --- p.60 === Chapter 4.1.1 --- One Unknown Variable --- p.61 === Chapter 4.1.2 --- Two Unknown Variables --- p.63 === Chapter 4.2 --- Critical Value of Ratio R/q --- p.69 === Chapter 4.3 --- Summary --- p.72 === Chapter 5. --- Conclusions and Future Work === Chapter 5.1 --- Conclusions --- p.73 === Chapter 5.2 --- Future Work --- p.75 === References --- p.76 === Appendix --- p.82