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Design a Cartesian, Decoupled and Isotropic 5-DoF Parallel Manipulator

Davoudi Dehkordi, Matin | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46437 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Zohoor, Hassan
  7. Abstract:
  8. Given the optimum design importance of parallel mechanisms, characteristics such as degree of freedom, decoupled and isotropic in structural synthesis of these mechanisms are considered. Also, due to less attention to the development of 5-DoF parallel manipulators, in this research, the improvement of this types of mechanisms is considered. In this research effort to design 5-DoF cartesian, decoupled and isotropic parallel manipulators leads to represent four numbers of this type of mechanisms with 3T2R and 2T3R degrees of freedom. Represented PMs verified with linear transformation theory. Morever by using Jacobian, they more analyzed for their decoupled and isotropic specifications in their workspace. Also, in order to confirm the results of structural analysis, kinematic simulations of two designed PMs with SolidWorks software are presented. The simulation confirmed the results of analytical solution was carried out, respectively. After the final verification this result was achieved, that one of these mechanisms in all of its workspace is decoupled and isotropic simultaneously, and the three others in some parts of their workspace are decoupled and isotropic
  9. Keywords:
  10. Parallel Mechanism ; Isotropic ; Decoupling ; Structural Synthesis ; Five Degree of Freedom Porallel Manipulator ; Linear Transformation Theory

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