The Inverse Kinematics and Workspace Design of the Hexaglide Parallel Mechanism
碩士 === 國立臺灣科技大學 === 機械工程系 === 88 === This thesis deals with the inverse kinematics and workspace design of the Hexaglide parallel mechanism. The inverse displacement analysis problem is first solved analytically according to the geometric characteristics and kinematics constraints of the mechanism....
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2000
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| Online Access: | http://ndltd.ncl.edu.tw/handle/05012040725748251309 |
| Summary: | 碩士 === 國立臺灣科技大學 === 機械工程系 === 88 === This thesis deals with the inverse kinematics and workspace design of the Hexaglide parallel mechanism. The inverse displacement analysis problem is first solved analytically according to the geometric characteristics and kinematics constraints of the mechanism. The solution procedures for the inverse velocity and acceleration analysis are also developed. In addition, the analytic form of the inverse Jacobian matrix is derived. The singular configurations of the mechanism are analyzed based on the hyper-plane constraints formulated by using the row elements of the inverse Jacobian matrix. Furthermore, the workspace boundaries of the mechanism are determined under practical operational considerations. A numerical method for finding the optimal dimensions of the mechanism that would give the maximum rectangular workspace is also presented.
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