Design and Analysis of 3-chain 6-D.O.F. Isotropic Parallel Manipulator

• Main Authors: Li-Han Lin, 林禮涵
• Other Authors: Kao-Yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/45392614806110824401

碩士 === 國立臺灣科技大學 === 機械工程系 === 96 === Isotropic manipulators are generally considered as manipulators with optimum dexterity. Currently, many serial, redundant, or parallel isotropic manipulators can be easily developed from so-called isotropic generators. Most existing isotropic generators, however, cannot be employed to develop 6-DOF isotropic parallel manipulators with less kinematic chains. This thesis presents methods to develop 3-chain isotropic 6-DOF parallel manipulators. Some special isotropic generators are proposed and then employed to obtain different types of 3-chain isotropic designs. Some obtained isotropic designs might not be feasible due to complex link parameters. The second part of this thesis proposes different approaches for developing practical isotropic designs with desired link parameters. Several numerical examples are provided for illustration.