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motevalli-somehsaraei--benyamin
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Structural Synthesis of a Family of 5D of 3T2R Parallel Mechanisms, and Analysis of the Superior One
,
M.Sc. Thesis
Sharif University of Technology
;
Zohoor, Hassan
(Supervisor)
;
Sohrabpour, Saeed
(Supervisor)
Abstract
The primary objective of this dissertation is to obtain a mechanism from the family of 5-dof parallel mechanisms of type 3T2R which gains the advantages of higher kinematic performance, low coupling of motion, and simple kinematics and control commands. Based on this aim, at first a method for structural synthesis of this type of mechanisms is introduced. The method is based on the theory of linear transformation and a geometrical analysis. By using this method, a set of novel 5-dof 3T2R parallel mechanism are introduced for the first time in the literature. In order to compare the designed mechanisms and to identify the promising ones, some important criteria which are a) low coupling...
Structural synthesis of 5 DoFs 3T2R parallel manipulators with prismatic actuators on the base
, Article Robotics and Autonomous Systems ; Volume 58, Issue 3 , 2010 , Pages 307-321 ; 09218890 (ISSN) ; Zohoor, H ; Sohrabpour, S ; Sharif University of Technology
2010
Abstract
A method is presented to synthesize 5 degrees of freedom (DoFs) of 3 translational and 2 rotational (3T2R) parallel kinematic structures. This method is based on the theory of linear transformation and geometrical analysis. Central to this method is a set of novel 5 DoFs 3T2R parallel mechanisms (PMs). Based on the legs configuration, the generated mechanisms are classified. Moreover, the promising mechanisms of each class are introduced with respect to some criteria, i.e.: (a) degree of coupling between the actuators and degrees of freedom; (b) easy kinematics and control command; (c) easy construction (or low cost construction); and, (d) manufacturability. With reference to these criteria,...