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Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila

Parallel manipulators have gained a lot of interest during the recent five decades. A parallel manipulator is constructed with an upper moving platform and a lower fixed platform, connected by at least two linkages in parallel, hence the name. Parallel manipulators have so many advantages over their...

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Main Author: Lubabatu, Baballe Ila
Format: Thesis
Published: 2015
Subjects:
T Technology (General)
TA Engineering (General). Civil engineering (General)
Online Access:http://studentsrepo.um.edu.my/8335/4/DESIGN_AND_DEVELOPMENT_OF_A_3%2DRPS_pdf.pdf
http://studentsrepo.um.edu.my/8335/
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spelling my.um.stud.83352018-02-13T07:02:21Z Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila Lubabatu, Baballe Ila T Technology (General) TA Engineering (General). Civil engineering (General) Parallel manipulators have gained a lot of interest during the recent five decades. A parallel manipulator is constructed with an upper moving platform and a lower fixed platform, connected by at least two linkages in parallel, hence the name. Parallel manipulators have so many advantages over their serial counterparts. Some of these advantages are high accuracy, high stiffness and low inertia which make them favorable for numerous applications. Parallel manipulators also have several disadvantages such as high cost, small workspace, complex forward kinematics and complicated forms. To alleviate these disadvantages, the design and development of parallel manipulators with less than six degree of freedom was focused on by numerous researchers. In this paper, the focus is on 3-DOF parallel manipulators. A number of 3-DOF parallel mechanisms were compared and contrasted on the basis of type of configuration, workspace, stiffness and dexterity in order to choose the best manipulator. However, there is no criteria that can be used to choose the best parallel robot. It all depends on desired application. Here, a 3-RPS parallel manipulator was chosen for a massage application due to its proposed suitability for the task. Forward and Inverse Kinematics of the mechanism were studied. The mechanism was designed using CAD software. A prototype was built and analyzed. It has been found that the CAD software both predicted the output and the limitations of the mechanism. The system can be extended to motion platform once the dynamics equation is established. 2015-07-02 Thesis NonPeerReviewed application/pdf http://studentsrepo.um.edu.my/8335/4/DESIGN_AND_DEVELOPMENT_OF_A_3%2DRPS_pdf.pdf Lubabatu, Baballe Ila (2015) Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila. Masters thesis, University of Malaya. http://studentsrepo.um.edu.my/8335/
institution Universiti Malaya
building UM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Malaya
content_source UM Student Repository
url_provider http://studentsrepo.um.edu.my/
topic T Technology (General)
TA Engineering (General). Civil engineering (General)
spellingShingle T Technology (General)
TA Engineering (General). Civil engineering (General)
Lubabatu, Baballe Ila
Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila
description Parallel manipulators have gained a lot of interest during the recent five decades. A parallel manipulator is constructed with an upper moving platform and a lower fixed platform, connected by at least two linkages in parallel, hence the name. Parallel manipulators have so many advantages over their serial counterparts. Some of these advantages are high accuracy, high stiffness and low inertia which make them favorable for numerous applications. Parallel manipulators also have several disadvantages such as high cost, small workspace, complex forward kinematics and complicated forms. To alleviate these disadvantages, the design and development of parallel manipulators with less than six degree of freedom was focused on by numerous researchers. In this paper, the focus is on 3-DOF parallel manipulators. A number of 3-DOF parallel mechanisms were compared and contrasted on the basis of type of configuration, workspace, stiffness and dexterity in order to choose the best manipulator. However, there is no criteria that can be used to choose the best parallel robot. It all depends on desired application. Here, a 3-RPS parallel manipulator was chosen for a massage application due to its proposed suitability for the task. Forward and Inverse Kinematics of the mechanism were studied. The mechanism was designed using CAD software. A prototype was built and analyzed. It has been found that the CAD software both predicted the output and the limitations of the mechanism. The system can be extended to motion platform once the dynamics equation is established.
format Thesis
author Lubabatu, Baballe Ila
author_facet Lubabatu, Baballe Ila
author_sort Lubabatu, Baballe Ila
title Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila
title_short Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila
title_full Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila
title_fullStr Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila
title_full_unstemmed Design and development of A 3-Degree of freedom parallel manipulator / Lubabatu Baballe Ila
title_sort design and development of a 3-degree of freedom parallel manipulator / lubabatu baballe ila
publishDate 2015
url http://studentsrepo.um.edu.my/8335/4/DESIGN_AND_DEVELOPMENT_OF_A_3%2DRPS_pdf.pdf
http://studentsrepo.um.edu.my/8335/
_version_ 1738506129635278848
score 13.211869

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