| Author | Nguyen Quang Khanh |
| Call Number | AIT Thesis no.ISE-06-25 |
| Subject(s) | Robots--Control systems
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-06-25 |
| Abstract | The concept of an Elephant trunk-like robot manipulator in this research is a biologically inspired robot cascaded by many parallel binary Stewart Platforms. It is, in fact, a hyper¬redundancy binary manipulator which is actuated by a number of binary actuators. Binary actuators have two stable states, for example, in this research pneumatic cylinders are selected, which have two states: ON (1) and OFF (0). For applications where high repeatability and reasonable accuracy are required, hyper-redundant binary manipulators based on parallel modules are potential candidates. Major benefits of proposed binary manipulator are repeatability, relatively low cost, and no requirement for feedback control. This research presents a 3-module binary robot prototype built with the purpose of demonstrating the potential of hyper-redundant manipulator based on parallel mechanism. The parallel Stewart Platform is selected. Kinematics problems of one Stewart Platform are considered. Then the algorithm based on GA, positional accuracy approximation and workspace approximation is given for inverse kinematics of the proposed manipulator. Finally, a control architecture and user-interface for the prototype are also given |
| Year | 2006 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-06-25 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Bohez, Erik L. J.; |
| Examination Committee(s) | Afzulpukar, Nitin V.;Manukid Parnichkun; |
| Scholarship Donor(s) | Belgian Technical Cooperation (BTC); |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2006 |