Spherically-actuated platform manipulator with passive prismatic joints

 
 
 
 

Spherically-actuated platform manipulator with passive prismatic joints

Show full item record


Title: Spherically-actuated platform manipulator with passive prismatic joints
Author: Nyzen, Ronald A.
Description: This thesis focuses on the 2-SPU platform manipulator robot. A six degree of freedom platform manipulator, the 2-SPU design employs two parallel serial chains. Each serial chain consists of an actuated spherical joint with passive prismatic and universal joints. The hardware used to develop the platform manipulator is presented. Pose kinematics analysis including singularity analysis is given. Forward and inverse pose kinematic solutions utilize the iterative Newton-Raphson method for evaluation due to complexities resulting from the hardware using actuators that are not truly spherical. Controller design is covered and a full Cartesian controller is defined using independent joint control. The implementation of that controller and the results collected from operation of the hardware with it are presented. The appendices list additional information that could be useful for operating or recreating the hardware. CAD drawings are given which could be used to recreate the hardware used in this work. All of the code used for analysis of the robot is presented as well as a full listing of all kinematic terms. The beginnings of a closed-form kinematic solution are presented. Also some information on the wiring of the electronics and operating procedures is documented.
Permanent Link: http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1174930163
http://hdl.handle.net/2374.OX/14254
Date: 2002

Files in this item

Files Size Format View

There are no files associated with this item.

This item appears in the following Collection(s)

Show full item record