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Title: Modelling analysis and synthesis of 3-DOF parallel manipulators
Researcher: Arockia Selvakumar A
Guide(s): Sivaramakrishnan R
Keywords: 3-DOF
Mechanical Engineering
Parallel manipulators
Tripod manipulators
Upload Date: 4-Mar-2014
University: Anna University
Completed Date: 01/11/2013
Abstract: Parallel manipulators (PMs) have been the subject of study, of much robotic research during the past three decades. A parallel manipulator (PM) is a closed loop kinematic chain mechanism, that is connected to the base via multiple independent chains. Parallel manipulators can provide several advantages over serial manipulators in terms of low inertia, high stiffness, high rigidity and accuracy. These advantages arise due to the presence of kinematic loops within the manipulator, that allow the load to be transmitted to the ground via multiple chains. However, these kinematic closed loops cause the workspace of the parallel manipulators to be severely limited. Apart from the workspace, parallel manipulators also have some disadvantages such as their complicated structure, high cost and major challenge for their analysis and control. To overcome the above disadvantages, the development of parallel manipulators less than 6-DOF has been accelerated. However, the analysis of the PM is complicated, because of the constraints and various singularities. As a result, PMs are not as popular as serial manipulators, because of lower mobility, workspace and complex structure. The scope of this research work is to perform the modelling, simulation, dimensional synthesis and the kinematic, work volume and singularity position analyses of the three degrees of freedom PMs (TRIPOD and TRI-GLIDE). Since the mobility and workspace are quite complex in PM design, the models were fabricated by considering those conditions, and the fabricated models were modeled and simulated using the ADAMS software package. In this work the following manipulators were modeled, simulated and fabricated. They are (1) 3-DOF (Prismatic-Revolute-Spherical) Tri-Glide manipulator with rigid links (actuating screws kept in a horizontal position), (2) 3-DOF (Prismatic-Revolute-Spherical) Tripod manipulator with rigid links (actuating screws kept in a vertical position), (3) 3-DOF (Prismatic- Revolute-Revolute) PM
Pagination: xxvii,291p.
Appears in Departments:Faculty of Mechanical Engineering

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01_title.pdfAttached File26.18 kBAdobe PDFView/Open
02_certificates.pdf800.13 kBAdobe PDFView/Open
03_abstracts.pdf12.85 kBAdobe PDFView/Open
04_acknowledgement.pdf6.72 kBAdobe PDFView/Open
05_contents.pdf66.3 kBAdobe PDFView/Open
06_chapter 1.pdf126.72 kBAdobe PDFView/Open
07_chapter 2.pdf80.38 kBAdobe PDFView/Open
08_chapter 3.pdf4.18 MBAdobe PDFView/Open
09_chapter 4.pdf1.04 MBAdobe PDFView/Open
10_chapter 5.pdf2.17 MBAdobe PDFView/Open
11_chapter 6.pdf44.33 kBAdobe PDFView/Open
12_appendeix.pdf4.55 MBAdobe PDFView/Open
13_references.pdf35.38 kBAdobe PDFView/Open
14_publications.pdf9.63 kBAdobe PDFView/Open
15_vitae.pdf5.59 kBAdobe PDFView/Open

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