Analysis and optimisation of 4UPS - 1UPU parallel robots:
Gespeichert in:
| 1. Verfasser: | |
|---|---|
| Format: | Abschlussarbeit Buch |
| Sprache: | English |
| Veröffentlicht: |
Aachen
Apprimus-Verl.
2010
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| Ausgabe: | 1. Aufl. |
| Schriftenreihe: | Ergebnisse aus der Robotikforschung
1 |
| Schlagworte: | |
| Online-Zugang: | Inhaltsverzeichnis |
| Beschreibung: | 206 S. |
| ISBN: | 9783940565754 |
Internformat
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Datensatz im Suchindex
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| adam_text | IMAGE 1
CONTENTS
PART I ANALYSIS AND MODELLING
1 INTRODUCTION 21
1.1 EXAMPLES OF PARALLEL ROBOTS 22
1.1.1 2 D.O.F. PARALLEL MANIPULATORS 22
1.1.2 3 D.O.F. PARALLEL MANIPULATORS 23
1.1.3 4 D.O.F. PARALLEL MANIPULATORS 23
1.1.4 5 D.O.F. PARALLEL MANIPULATORS 24
1.1.5 6 D.O.F. PARALLEL MANIPULATORS 25
1.1.6 RECAPITULATION 27
1.2 TYPE SYNTHESIS OF A 5 D.O.F. PARALLEL ROBOT 27
1.3 MOTIVATION AND OBJECTIVES 30
1.3.1 THE OBJECTIVES OF THE MODELLING OF PARALLEL ROBOTS 30 1.3.2
PERFORMANCE EVALUATION 31
1.3.3 DIMENSIONAL SYNTHESIS 31
1.3.4 IMPLEMENTATION OF A CONTROL SYSTEM AND OPERATIONAL START 32 1.4
CONTENTS 32
2 THE MODELLING OF PARALLEL ROBOTS WITH FIVE DEGREES OF FREEDOM 33
2.1 INTRODUCTION 33
2.2 KINEMATIC ANALYSIS 33
2.2.1 POSITION ANALYSIS 34
2.2.2 VELOCITY AND ACCELERATION ANALYSIS 37
2.3 THE KINEMATIC ERROR MODEL 41
2.4 THE DYNAMIC MODEL 43
2.4.1 FORMULATION OF THE PRINCIPIE OF VIRTUAL WORK 43
2.4.2 LINK JACOBIAN MATRICES 44
2.4.3 APPLIED AND INERTIA WRENCHES 46
BIBLIOGRAFISCHE INFORMATIONEN HTTP://D-NB.INFO/1008594326
DIGITALISIERT DURCH
IMAGE 2
10 CONTENTS
2.4.4 COMPUTATION OF THE ACTUATOR FORCES 47
2.5 STIFFNESS ANALYSIS 48
2.6 CONCLUSION 54
3 PERFORMANCE ANALYSIS 57
3.1 INTRODUCTION 57
3.2 WORKSPACE EVALUATION 58
3.2.1 GEOMETRICAL APPROACH 58
3.2.2 NUMERICAL COMPUTATION 60
3.2.3 THE CONSTANT ORIENTATION WORKSPACE 62
3.2.4 THE REACHABLE WORKSPACE 63
3.2.5 THE DEXTEROUS WORKSPACE 64
3.2.6 COMPUTATION OF THE WORKSPACE VOLUME 65
3.3 SINGULARITY INDICES 66
3.3.1 MAPPING BETWEEN THE JOINT AND THE TASK SPACE 66
3.3.2 THE CONDITION NUMBER 67
3.3.3 THE DETERMINANT 69
3.3.4 TAKING INTO ACCOUNT THE INHOMOGENEITY OF THE JACOBIAN. 69 3.4
KINETOSTATIC PERFORMANCE EVALUATION OF PARALLEL MANIPULATORS .. 70 3.4.1
ACCURACY 71
3.4.2 VELOCITY PERFORMANCE ANALYSIS 76
3.4.3 FORCE TRANSMISSION ANALYSIS 83
3.5 STIFFNESS AND NATURAL FREQUENCIES AS PERFORMANCE CRITERIA 87 3.5.1
STIFFNESS 87
3.5.2 MINIMAL NATURAL FREQUENCY 89
3.6 TAKING INTO ACCOUNT THE DEPENDENCE ON THE POSE 90
3.7 ADEQUATE TRAJECTORIES FOR PERFORMANCE ANALYSIS 92
3.7.1 LINES 93
3.7.2 CIRCULAR PATHS 94
3.7.3 LISSAJOUS CURVES 94
3.7.4 TIME LAW 94
3.8 ADEQUACY OF THE INDICES OVER A GIVEN WORKSPACE 95
3.8.1 ASSESSMENT ACCORDING TO INDICES 96
3.8.2 ASSESSMENT ACCORDING TO TRAJECTORIES 100
3.8.3 RECAPITULATION 102
3.9 CONCLUSION 103
PART II DESIGN AND IMPLEMENTATION
4 DESIGN ISSUES AND PERFORMANCE OPTIMIZATION 107
4.1 INTRODUCTION 107
4.2 STATE OF THE ART 108
4.2.1 THE PARAMETER SPACE APPROACH 109
IMAGE 3
CONTENTS 11
4.2.2 THE OBJECTIVE SPACE APPROACH 109
4.3 THE REQUIRED MANIPULATOR PERFORMANCES 110
4.3.1 THE TASK SPECIFICATIONS 110
4.3.2 THE WORKSPACE REQUIREMENT 112
4.3.3 THE VELOCITY REQUIREMENT 114
4.3.4 THE FORCE REQUIREMENT 114
4.3.5 THE ACCURACY REQUIREMENT 115
4.3.6 THE STIFFNESS REQUIREMENT 115
4.3.7 RECAPITULATION 115
4.4 DESIGN METHODOLOGY 117
4.4.1 THE DESIGN VARIABLES 117
4.4.2 DESIGN STAGES 117
4.4.3 PROBLEM FORMULATION 118
4.4.4 OPTIMIZATION STRATEGIES 119
4.5 GRADIENT-BASED ALGORITHMS 122
4.5.1 THE MAIN OPTIMIZATION PROCEDURE 122
4.5.2 IMPLEMENTATION 123
4.5.3 RESULTS 124
4.6 GENETIC ALGORITHMS 127
4.6.1 INITIALIZATION AND SELECTION 129
4.6.2 GENETIC OPERATORS 129
4.6.3 IMPLEMENTATION 131
4.6.4 RESULTS 131
4.7 CONCLUSION 134
IMPLEMENTATION OF A CONTROL SYSTEM 137
5.1 HARDWARE ARCHITECTURE 138
5.2 THE TOP-LEVEL CONTROL MODEL 139
5.2.1 REFERENCING MODULE 140
5.2.2 COORDINATE TRANSFORMATION 141
5.2.3 ACTUATOR CONTROL 141
5.3 PROGRAMMING ENVIRONMENT 143
5.3.1 GRAPHICAL USER INTERFACE 146
5.3.2 COMMUNICATION FLOW 148
5.4 NECESSITY OF PATH PLANNING 150
5.4.1 STRATEGIES 150
5.4.2 GENERATION OF PATHS WITHIN THE WORKSPACE 152
5.5 CONCLUSION 155
CONCLUSION 157
6.1 ACCOMPLISHMENTS 157
6.2 PROSPECTS 159
IMAGE 4
12 CONTENTS
PART III APPENDICES
A INTERMEDIATE STEPS OF THE KINEMATIC ANALYSIS 163
A.L DESCRIPTION OF AN ORIENTATION 163
A.2 COMPUTATION OF THE CONSTRAINED ANGLE 165
A.3 EQUATIONS FOR THE KINEMATIC ANALYSIS 167
A.3.1 ACTUATOR VELOCITIES 167
A.3.2 ANGULAR VELOCITIES OF THE LEGS 168
A.4 EQUATIONS FOR THE ACCELERATION ANALYSIS 170
A.4.1 ACTUATOR ACCELERATIONS 170
A.4.2 ANGULAR ACCELERATIONS 171
B DERIVATION OF THE PARAMETERS JACOBIAN 173
C PARAMETERS OF THE DYNAMIC MODEL 175
D KINETOSTATIC INDICES OF THE CONSIDERED ROBOTS 179
D.L GEOMETRIES CONSIDERED IN CHAPTER 3 179
D.2 OPTIMIZED ROBOT GEOMETRIES 179
REFERENCES 187
|
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| author | Nefzi, Marwene |
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| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
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| dewey-search | 629.8933 |
| dewey-sort | 3629.8933 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| edition | 1. Aufl. |
| format | Thesis Book |
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| indexdate | 2024-07-09T22:49:44Z |
| institution | BVB |
| isbn | 9783940565754 |
| language | English |
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| physical | 206 S. |
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| series | Ergebnisse aus der Robotikforschung |
| series2 | Ergebnisse aus der Robotikforschung |
| spelling | Nefzi, Marwene Verfasser (DE-588)142886009 aut Analysis and optimisation of 4UPS - 1UPU parallel robots Marwene Nefzi 1. Aufl. Aachen Apprimus-Verl. 2010 206 S. txt rdacontent n rdamedia nc rdacarrier Ergebnisse aus der Robotikforschung 1 Zugl.: Aachen, Techn. Hochsch., Diss., 2010 Parallelroboter (DE-588)4716267-3 gnd rswk-swf Manipulator (DE-588)4037349-6 gnd rswk-swf Parallelstruktur Maschinenbau (DE-588)4529086-6 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Parallelroboter (DE-588)4716267-3 s Manipulator (DE-588)4037349-6 s Parallelstruktur Maschinenbau (DE-588)4529086-6 s DE-604 Ergebnisse aus der Robotikforschung 1 (DE-604)BV036866452 1 DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020782119&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Nefzi, Marwene Analysis and optimisation of 4UPS - 1UPU parallel robots Ergebnisse aus der Robotikforschung Parallelroboter (DE-588)4716267-3 gnd Manipulator (DE-588)4037349-6 gnd Parallelstruktur Maschinenbau (DE-588)4529086-6 gnd |
| subject_GND | (DE-588)4716267-3 (DE-588)4037349-6 (DE-588)4529086-6 (DE-588)4113937-9 |
| title | Analysis and optimisation of 4UPS - 1UPU parallel robots |
| title_auth | Analysis and optimisation of 4UPS - 1UPU parallel robots |
| title_exact_search | Analysis and optimisation of 4UPS - 1UPU parallel robots |
| title_full | Analysis and optimisation of 4UPS - 1UPU parallel robots Marwene Nefzi |
| title_fullStr | Analysis and optimisation of 4UPS - 1UPU parallel robots Marwene Nefzi |
| title_full_unstemmed | Analysis and optimisation of 4UPS - 1UPU parallel robots Marwene Nefzi |
| title_short | Analysis and optimisation of 4UPS - 1UPU parallel robots |
| title_sort | analysis and optimisation of 4ups 1upu parallel robots |
| topic | Parallelroboter (DE-588)4716267-3 gnd Manipulator (DE-588)4037349-6 gnd Parallelstruktur Maschinenbau (DE-588)4529086-6 gnd |
| topic_facet | Parallelroboter Manipulator Parallelstruktur Maschinenbau Hochschulschrift |
| url | http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=020782119&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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