1 AIT Asian Institute of Technology

Development of a parallel robot

AuthorLy Tan Huy
Call NumberAIT Thesis no.ISE-07-21
Subject(s)Robots--Kinematics
Parallel robots

NoteA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology
PublisherAsian Institute of Technology
Series StatementThesis ; no. ISE-07-21
AbstractParallel 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
Year2007
Corresponding Series Added EntryAsian Institute of Technology. Thesis ; no. ISE-07-21
TypeThesis
SchoolSchool of Engineering and Technology (SET)
DepartmentDepartment of Industrial Systems Engineering (DISE)
Academic Program/FoSIndustrial Systems Engineering (ISE)
Chairperson(s)Manukid Parnichkun;
Examination Committee(s)Bohez, Erik L.J.;Pisut Koomsap;
Scholarship Donor(s)Asian Institute of Technology Fellowship;
DegreeThesis (M.Eng.) - Asian Institute of Technology, 2007


Usage Metrics
View Detail0
Read PDF0
Download PDF0