A Study on the Orientation Workspace of Special 6-DOF Parallel Manipulators

• Main Authors: Chung-yu Shih, 施宗佑
• Other Authors: Kao-yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/81924435853681559613

碩士 === 國立臺灣科技大學 === 機械工程系 === 98 === Parallel manipulators have been intensively studied over the last two decades, but most research works focused on some special types of manipulators whose limbs are connected to the platform through spherical joints. This thesis investigates parallel manipulators with revolute joints attached on the platform and studies their orientation workspace. The proposed methods introduce virtual 3R serial manipulators on a parallel manipulator such that the three Euler’s angles of the platform are associated with a twisted angle and two revolute joint displacements of a serial manipulator. By this approach the orientation workspace of a parallel manipulator can be easily developed by solving quadratics. Parallel manipulators with three PPSR limbs are studied in detail, and the manipulators with three PRSR or RRSR limbs are also investigated.