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Structural Synthesis of a Family of 5D of 3T2R Parallel Mechanisms, and Analysis of the Superior One

Motevalli Somehsaraei, Benyamin | 2008

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39153 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan; Sohrabpour, Saeed
  7. Abstract:
  8. 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 between the actuators and degrees of freedom of the moving platform b) simple kinematics and control commands c)manufacturability and d) easy construction are considered. To get a better perception, the kinematic analysis of some of the superior designs is given and the one with the best kinematic performance is introduced. Thereafter, complete kinematic analysis of the chosen mechanism is undertaken. In this way, the condition number and manipulability of the mechanism is analyzed. Moreover, the workspace analysis of the end-effector is also given. In order to obtain more realistic workspace, the joint and actuator limits are also imposed. Finally, the dynamic analysis of the mechanism is studied and the closed form of dynamic equations of motion is extracted. To valid the extracted dynamic model, the numerical results of the model is examined with the results which are obtained from the simulated model in SimMechanics environment of Matlab
  9. Keywords:
  10. Parallel Mechanism ; Kinematics ; Dynamics

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