Development of a parallel robot | |
| Author | Ly Tan Huy |
| Call Number | AIT Thesis no.ISE-07-21 |
| Subject(s) | Robots--Kinematics Parallel robots |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-07-21 |
| Abstract | Parallel robots have been widely applied in industry for their special properties. The aim of this thesis is to study a type of parallel robot, called Stewart Platform or Hexapod. Geometry and inverse kinematics was analyzed for type 6-6 Hexapod mechanism. Forward kinematics, concerning to solve twelve non-linear equations, was completely figured out by using Newton-Raphson method and LU factorization with pivot matrix. Three constrains of computing workspace was analyzed and dynamics was studied. A Hexapod prototype designed in 2D with Mechanical Desktop, in 3D ProEngineer Wild Fire was built up. Algorithm of parallel motor control circuitry was proposed basing on printer port. Architecture of system was figured out. Closed-loop control was used to control motion of end-effecter, which applies forward kinematics solution uses feedback signal from distance sensor on each strut |
| Year | 2007 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-07-21 |
| 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) | Manukid Parnichkun; |
| Examination Committee(s) | Bohez, Erik L.J.;Pisut Koomsap; |
| Scholarship Donor(s) | Asian Institute of Technology Fellowship; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2007 |