| Author | Nguyen Duy Hung |
| Call Number | AIT Thesis no. ISE-01-03 |
| Subject(s) | Robots--Kinematics
|
| Note | A thesis submitted in the pa1tial fulfillment of the requirements for the degree of Master of
Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-01-03 |
| Abstract | Tricept is a machine tool robot mainly used in the automobile and aircraft industries, it has
robotic characteristics such as flexibility and high dynamics in combination with machine
tool features such as stiffness and rigidity. This paper concerns Tricept robot 805, which is
used for users requiring flexible heavier machining and many other applications requiring
high precision.
The objective of thesis is to calculate kinematics of the Tricept robot 805 and all the
influence regarding to the special structure of Robot, model robot, apply advanced control
techniques, simulate system in computer to find a better algorithm to control robot.
To achieve the objective we analyze the mechanical structure of one axis of robot and then
model its control system. Due to special structure of the robot, calculation of inverse
influence is necessary to avoid error in inverse kinematics. Because there is no closed form
to calculate direct kinematics, we have to use iteration method. Elastic model is used to
adapt the elasticity of system. Finally a control method using direct measuring system is
considered to improve control quality of Tricept robot. |
| Year | 2001 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-01-03 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Nitin V.Afzulpurkar; |
| Examination Committee(s) | Manukid Parnichkun ;Bohez, Erik L. J. ; |
| Scholarship Donor(s) | Siemens AG. ; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2001 |