A Study on the Kinematics of Industrial Manipulators and the Development of Related Computer Software

• Main Authors: Jyun-ping Wang, 王俊評
• Other Authors: Kao-yueh Tsai
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/3738z7

碩士 === 國立臺灣科技大學 === 機械工程系 === 99 === Six degree-of-freedom general serial manipulators and parallel manipulators have been intensively studied over the last four decades. The literature in the area of industrial manipulators, on the other hand, is very sparse. This thesis investigates five different types of industrial manipulators. The analytical solutions for inverse kinematics are first studied. Some special characteristics of the solutions are then employed to develop methods for predicting if a feasible path that does not pass singular points or restricted joint regions can be obtained. For design considerations, methods based on the determinant of the Jacobian and dexterity measures are proposed to obtain singular surfaces and dexterity curves in both joint space and task space. All the presented methods are then integrated into a computer software that can be used for trajectory planning or searching for the design with optimum workspace or dexterity.