Type Synthesis and Analysis of Parallel Manipulators with Multiple Operation Modes, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Sohrabpoor, Saeed (Supervisor)
Abstract
Two robots with same number of degrees of freedom (DOF) may have different motion patterns. Planar, spherical and translational motions are typical 3 DOF motions. So far, many studies in the field of less than 6 DOF mechanisms have been focused on synthesis and development of parallel mechanisms (PM) with a specific motion pattern. Recent investigations show that there is possibly new type of PMs that could change their operation modes and satisfy more than one motion pattern. For applications in which the platform should undergo one motion pattern at part of workspace and a different motion pattern in some other poses, utilizing these PMs instead of a 6 DOF robot obviously reduces number of...
Cataloging briefType Synthesis and Analysis of Parallel Manipulators with Multiple Operation Modes, M.Sc. Thesis Sharif University of Technology ; Zohoor, Hassan (Supervisor) ; Sohrabpoor, Saeed (Supervisor)
Abstract
Two robots with same number of degrees of freedom (DOF) may have different motion patterns. Planar, spherical and translational motions are typical 3 DOF motions. So far, many studies in the field of less than 6 DOF mechanisms have been focused on synthesis and development of parallel mechanisms (PM) with a specific motion pattern. Recent investigations show that there is possibly new type of PMs that could change their operation modes and satisfy more than one motion pattern. For applications in which the platform should undergo one motion pattern at part of workspace and a different motion pattern in some other poses, utilizing these PMs instead of a 6 DOF robot obviously reduces number of...
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