Mechanical Design and Kinematic Analysis of a Spherical Parallel Manipulator with Coaxial Input Shafts

Simple item page
dc.contributor.authorTursynbek, Iliyas
dc.date.accessioned2018-11-01T10:29:18Z
dc.date.available2018-11-01T10:29:18Z
dc.date.issued2017-05
dc.description.abstractIn this thesis a spherical parallel manipulator with coaxial input shafts (Coaxial SPM) is under study. It is a part of a bigger family of spherical parallel manipulators (SPM) with a special feature of unlimited roll rotation around its axis. This feature makes the Coaxial SPM of high interest for applications in motion control system. First, an approach for obtaining unique forward and inverse kinematics solutions is introduced, in order to relate the angular position of the manipulator servomotors to the position and orientation of Coaxial SPM mobile platform and vice versa. Then, a configuration space of the manipulator is defined by using a numerical procedure, in order to guarantee the absence of singularities and of collision between the manipulator links during the manipulator motion. Afterwards, the Cartesian space of the manipulator is generated. Results of these analyses are applied to the assembled mechanical prototype of Coaxial SPM for experimental verifications.en_US
dc.identifier.citationIliyas Tursynbek. Mechanical Design and Kinematic Analysis of a Spherical Parallel Manipulator with Coaxial Input Shafts. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev Universityen_US
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/3592
dc.language.isoenen_US
dc.publisherNazarbayev University School of Science and Technologyen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectSpherical Parallel Manipulatoren_US
dc.titleMechanical Design and Kinematic Analysis of a Spherical Parallel Manipulator with Coaxial Input Shaftsen_US
dc.typeMaster's thesisen_US
workflow.import.sourcescience

Files

Original bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
MS_Thesis_Iliyas Tursynbek_Spring_2017.pdf
Size:
14.2 MB
Format:
Adobe Portable Document Format
Description:
Download
License bundle
Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
6 KB
Format:
Item-specific license agreed upon to submission
Description:
Download

Collections

02. Master's Thesis