Dissertations / Theses: 'Machinery, Kinematics of'

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Chan, Stephen K. C. "An iterative general inverse kinematics solution with variable damping." Thesis, University of British Columbia, 1987. http://hdl.handle.net/2429/26684.

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Currently, there is much interest in the field of robotics in researching methods of obtaining inverse kinematics solutions for arbitrary manipulators. Simple closed-form inverse kinematics equations can be obtained for a few joint configurations using geometric methods. However, there exist many manipulators which were not originally designed for kinematic control which do not have simple closed-form inverse kinematics equations. An efficient and stable iterative method is investigated in this thesis which solves the general inverse kinematics problem without detailed analysis of the manipulator's structure. The proposed iterative inverse kinematics algorithm combines a calibration procedure to estimate the manipulator's Denavit-Hartenberg parameters with an iterative method using the Jacobian and damped joint corrections. The kinematics control algorithm parameters are selected with a computer graphics simulation of the manipulator. The proposed inverse kinematics algorithm is tested with a simulation of an industrial manipulator arm which does not have a closed-form solution, RSI Robotic Systems International's Kodiak arm, and exhibits stability in all regions of operation and fast convergence over most regions of operation.
Applied Science, Faculty of
Electrical and Computer Engineering, Department of
Graduate

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Mulligan, I. Jane. "A computational vision system for joint angle sensing." Thesis, University of British Columbia, 1988. http://hdl.handle.net/2429/28029.

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The research described was aimed at developing passive vision techniques to perform kinematic calibration for a multi-link manipulator, in near real time. Working with a single image of the arm of a Caterpillar excavator, edges are extracted first, then the constrained nature of the problem allows filtering of edge elements to select only those potentially arising from the arm. A model based matching process is performed on this refined data to determine the desired joint angles quickly and efficiently. Methods of exploiting the parallel nature of these techniques are also described.
Science, Faculty of
Computer Science, Department of
Graduate

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Maki, Sandra. "Kinematics of helical filament winding on circular and elliptic cylindrical mandrels." Thesis, McGill University, 1988. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=64040.

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Tsai, Der-Liang 1958. "Kinematic and dynamic analyses of cascades of planar four-bar mechanisms." Thesis, The University of Arizona, 1988. http://hdl.handle.net/10150/276690.

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Computer programs have been developed for the kinematic and dynamic analyses of cascades of planar four-bar mechanisms. Since the analytic approach has high efficiency and accuracy in computation, a chain of four-bar linkages is developed horizontally and vertically by using the relative coordinates and the absolute coordinates, from which the explicit equations and the simultaneous equations are respectively derived in the kinematic analysis. In this analysis, the actions of transmission of linkages, from left to right, from right to left and from lower to upper, are performed by the image method and transformation procedures. Based on the kinematic analysis, the dynamic analysis is also developed by using both sets of coordinate systems. The generalized equation of motion, the general form of Lagrange's equations, Lagrange multipliers and the theorem of power balance are used to construct various formulations of the governing equations of motion for some particular problems. The problem of a linkage with a moving frame (the ground link) is the most interesting focus in this analysis.

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Cordle, William H. "Numerical inverse kinematics for a six-degree-of-freedom manipulator." Thesis, This resource online, 1993. http://scholar.lib.vt.edu/theses/available/etd-12052009-020222/.

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Lou, Yunjiang. "Optimal design of parallel manipulators /." View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?ECED%202006%20LOU.

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Natesan, Arun K. "Kinematic analysis and synthesis of four-bar mechanisms for straight line coupler curves /." Online version of thesis, 1994. http://hdl.handle.net/1850/11785.

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Gezgin, Erkin Alizade Rasim. "Biokinematic analysis of human arm." [s.l.]: [s.n.], 2006. http://library.iyte.edu.tr/tezler/master/makinamuh/T000547.pdf.

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Thesis (Master)--İzmir Institute of Technology, İzmir, 2006.
Keywords: Biokinematic analysis, quaternionlar, structural groups, mechanism theory,robot manipulators. Includes bibliographical references (leaves 78-85).

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Williams, Robert L. "Synthesis and design of the RSSR spatial mechanism for function generation." Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/41573.

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The purpose of this thesis is to provide a complete package for the synthesis and design of the RSSR spatial function generating mechanism.

In addition to the introductory material this thesis is divided into three sections. The section on background kinematic theory includes synthesis, analysis, link rotatability, transmission quality, and branching analysis. The second division details the computer application of the kinematic theory. The program RSSRSD has been developed to incorporate the RSSR synthesis and design theory. An example is included to demonstrate the computer-implemented theory.

The third part of this thesis includes miscellaneous mechanism considerations and recommendations for further research.

The theoretical work in this project is a combination of original derivations and applications of the theory in the mechanism literature.

Master of Science

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Neppalli, Srinivas. "Design, construction, inverse kinematics, and visualization of continuum robots." Master's thesis, Mississippi State : Mississippi State University, 2008. http://library.msstate.edu/etd/show.asp?etd=etd-10312008-144310.

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Pond, Christopher Burke. "Motion planning for flexible manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ37358.pdf.

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Choi, Byung Jin. "Kinematic design, motion/force coordination, and performance analysis of force controlled wheeled vehicles /." Digital version accessible at:, 1998. http://wwwlib.umi.com/cr/utexas/main.

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Stoenescu, Eleonor D. Marghitu Dan B. "Dynamics and synthesis of kinematic chains with impact and clearance." Auburn, Ala., 2005. http://repo.lib.auburn.edu/EtdRoot/2005/SPRING/Mechanical_Engineering/Dissertation/STOENESCU_ELEONOR_32.pdf.

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Huat, Tan Hwee. "Discrete trajectory planners for robotic arms." Title page, table of contents and summary only, 1988. http://web4.library.adelaide.edu.au/theses/09PH/09pht1611.pdf.

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Kaparthi, Prashanth. "Kinematic synthesis of a well service machine." Morgantown, W. Va. : [West Virginia University Libraries], 2001. http://etd.wvu.edu/templates/showETD.cfm?recnum=2244.

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Thesis (M.S.)--West Virginia University, 2001.
Title from document title page. Document formatted into pages; contains viii, 64 p. : ill. (some col.). Includes abstract. Includes bibliographical references (p. 63-64).

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Duggan, Matthew Sherman. "Automatic correction of robot programs based on sensor calibration data." Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/17814.

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Huang, Ji Ming. "Design, modeling and control of a compliant parallel XY micro-motion stage with complete decoupling property." Thesis, University of Macau, 2011. http://umaclib3.umac.mo/record=b2493609.

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Keselman, Leo. "Motion planning for redundant manipulators and other high degree-of-freedom systems." Thesis, Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51895.

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Motion planning for redundant manipulators poses special challenges because the required inverse kinematics are difficult and not complete. This thesis investigates and proposes methods for motion planning for these systems that do not require inverse kinematics and are potentially complete. These methods are also compared in performance to standard inverse kinematics based methods.

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Lundberg, Eric J. "The Automated Laser Position System - ALPS." Thesis, Virginia Tech, 1989. http://hdl.handle.net/10919/44123.

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The construction industry needs an accurate real-time positioning system. Such a system, if successfully implemented, would lead to significant increases in the performance of many construction operations. This thesis presents the Automated Laser Position System (ALPS) for accurate real-time positioning. ALPS is a spin-off of the Automated Position And Control System (APAC) research, sponsored by the National Science Foundation under grant DMC-8717476.

The ALPS concept has three primary components: a rotation laser, laser detectors and a central processing unit. ALPS generates both horizontal (X,Y) and vertical (Z) position information. It is mathematically predicted that ALPS could produce accuracies of Â± 17 mm in the horizontal and Â± 5,9 mm in the vertical, at a range of 400 m. Position measurements would be updated 50 times a second.

Master of Science

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Carlson, Stephen O. "Adaptive control of a four-bar linkage." Thesis, Virginia Tech, 1985. http://hdl.handle.net/10919/45586.

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Three discrete-time adaptive controllers are developed and applied to Four-bar linkage velocity control to reduce the input link velocity fluctuations without compromising the control system velocity transient response. The successful control techniques use the known mechanism kinematics and the mechanism input link position to control the nonlinear mechanism dynamics. The study shows that the adaptive controls are feasible to implement using current microprocessor technology, and the velocity control performance is improved when compared to an industry-standard analog servomotor control. However, more development is required to realize the full potential of the adapative control technique.

A nonlinear Four-bar dynamic model is developed using Kinematic Influence Coefficients. This model is used to develop the adaptive controls and to computer simulate the control scheme performances. The simulated model velocity response is compared qualitatively to experimental data and shown to be similar to an experimental device.

Master of Science

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Centea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure." *McMaster only, 2004.

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Pece, Carlos Alessandro Zanetti. "An engineering vector-like approach to attitude kinematics & nominal attitude state tracking control." Instituto Tecnológico de Aeronáutica, 2002. http://repositorio.utfpr.edu.br/jspui/handle/1/481.

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CAPES, Fundação Casimiro Montenegro Filho
No tratamento do movimento rotacional tridimensional de corpos rígidos é inevitável lidar-se com o fato de que rotações não são quantidades vetoriais. Elas podem, no entanto, ser tratadas como tais quando o ângulo de rotação é (muito) pequeno. Neste contexto, ou seja, o da análise infinitesimal, as derivadas temporais das variáveis de rotação mantêm um relacionamento simples (às vezes mesmo do tipo vetorial) com os componentes do vetor velocidade angular. Convencionalmente, esta distinta característica não pode ser associada a rotações grandes, nem mesmo medianas. Nesta tese é demonstrado que a relação diferencial entre o vetor rotação e o vetor velocidade angular pode, na realidade, ser expressa em termos de uma simples derivada temporal, desde que o ângulo de rotação seja mantido numa faixa moderada. O artifício permitindo tal simplicidade na equação cinemática (cinemática linear de atitude) com um ângulo de rotação moderado é a escolha criteriosa da base a partir da qual a derivada temporal é observada. Este resultado é utilizado vantajosamente em conjunto com uma versão generalizada das equações de movimento de Euler na construção de uma lei de controle simples. Essa lei realiza, concomitantemente, o rastreamento linear nominal de atitude e o rastreamento linear nominal de velocidade angular (rastreamento linear nominal de estado rotacional), dentro de uma faixa moderada de erro de rastreamento de atitude. O trabalho analítico apresentado é único no sentido em que este combina cinemática rotacional, dinâmica rotacional e controle de forma tal que linearidade nominal entre as variáveis de erro de estado é atingida mesmo para erros moderados de rastreamento de atitude. Pela primeira vez, uma lei de controle permite explicitamente que a dinâmica de erro de estado rotacional em malha fechada seja escolhida e motivada por conceitos físicos úteis da teoria linear de controle. O texto também inclui simulações numéricas que validam e ilustram os resultados teóricos obtidos.
In dealing with rigid body three-dimensional rotational motion, one is inevitably led to face the fact that rotations are not vector quantities. They may, however, be treated as such when the angle of rotation is (very) small. In this context, i.e. the infinitesimal case analysis, the time derivatives of the rotation variables hold simple (sometimes vector-like) relationships to the components of the angular velocity vector. Conventionally, this distinctive characteristic cannot be associated with general moderate-to-large rotations. In this thesis, it is demonstrated that the kinematical differential relationship between the rotation vector and the angular velocity vector may, in fact, be expressed in terms of a mere time derivative, provided that the angle of rotation is kept within moderate bounds. The key to achieve such simplicity in the kinematical equation (linear attitude kinematics) within moderate angles of rotation is a judicious choice of the basis from which the time derivative is observed. This result is used to advantage within a generalised version of Euler’s motion equations to construct a simple control law, which nominally realises both linear attitude tracking and linear angular velocity tracking (nominal linear attitude state tracking), within moderate attitude tracking errors. The analytical work presented here is unique in the sense that it combines attitude kinematics, dynamics and control in such a way that nominal linearity between the attitude state error variables is achieved within moderate attitude tracking errors. For the first time, an attitude control law explicitly enables the nominal closed-loop attitude state error dynamics to be chosen and motivated by useful physical concepts from linear control theory. The text also includes numerical simulations that validate and illustrate the theoretically achieved results.

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Du, Plessis Lukas Johannes. "Design and optimum operation of a re-configurable planar Gough-Stewart machining platform." Thesis, Pretoria : [s.n.], 2001. http://upetd.up.ac.za/thesis/available/etd-10312005-140405/.

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Ligata, Haris. "Impact of system-level factors on planetary gear set behavior." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1172599656.

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Firla, Marcin. "Automatic signal processing for wind turbine condition monitoring. Time-frequency cropping, kinematic association, and all-sideband demodulation." Thesis, Université Grenoble Alpes (ComUE), 2016. http://www.theses.fr/2016GREAT006/document.

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Cette thèse propose trois méthodes de traitement du signal orientées vers la surveillance d’état et le diagnostic. Les techniques proposées sont surtout adaptées pour la surveillance d’état, effectuée à la base de vibrations, des machines tournantes qui fonctionnent dans des conditions d’opération non-stationnaires comme par exemple les éoliennes mais elles ne sont pas limitées à un tel usage. Toutes les méthodes proposées sont des algorithmes automatiques et gérés par les données.La première technique proposée permet de sélectionner la partie la plus stationnaire d’un signal en cadrant la représentation temps-fréquence d’un signal.La deuxième méthode est un algorithme pour l’association des dispositions spectrales, des séries harmoniques et des séries à bandes latérales avec des fréquences caractéristiques provennant du cinématique d'un système analysé. Cette méthode propose une approche unique dédiée à l’élément roulant du roulement qui permet de surmonter les difficultés causées par le phénomène de glissement.La troisième technique est un algorithme de démodulation de bande latérale entière. Elle fonctionne à la base d’un filtre multiple et propose des indicateurs de santé pour faciliter une évaluation d'état du système sous l’analyse.Dans cette thèse, les méthodes proposées sont validées sur les signaux simulés et réels. Les résultats présentés montrent une bonne performance de toutes les méthodes
This thesis proposes a three signal-processing methods oriented towards the condition monitoring and diagnosis. In particular the proposed techniques are suited for vibration-based condition monitoring of rotating machinery which works under highly non-stationary operational condition as wind turbines, but it is not limited to such a usage. All the proposed methods are automatic and data-driven algorithms.The first proposed technique enables a selection of the most stationary part of signal by cropping time-frequency representation of the signal.The second method is an algorithm for association of spectral patterns, harmonics and sidebands series, with characteristic frequencies arising from kinematic of a system under inspection. This method features in a unique approach dedicated for rolling-element bearing which enables to overcome difficulties caused by a slippage phenomenon.The third technique is an all-sideband demodulation algorithm. It features in a multi-rate filter and proposes health indicators to facilitate an evaluation of the condition of the investigated system.In this thesis the proposed methods are validated on both, simulated and real-world signals. The presented results show good performance of all the methods

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Liu, Chih-Hsing. "A finite element based dynamic modeling method for design analysis of flexible multibody systems." Diss., Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/39605.

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This thesis develops a finite element based dynamic modeling method for design and analysis of compliant mechanisms which transfer input force, displacement and energy through elastic deformations. Most published analyses have largely based on quasi-static and lump-parameter models neglecting the effects of damping, torsion, complex geometry, and nonlinearity of deformable contacts. For applications such as handling of objects by the robotic hands with multiple high-damped compliant fingers, there is a need for a dynamic model capable of analyzing the flexible multibody system. This research begins with the formulation of the explicit dynamic finite element method (FEM) which takes into account the effects of damping, complex geometry and contact nonlinearity. The numerical stability is considered by evaluating the critical time step in terms of material properties and mesh quality. A general framework incorporating explicit dynamic FEM, topology optimization, modal analysis, and damping identification has been developed. Unlike previous studies commonly focusing on geometry optimization, this research considers both geometric and operating parameters for evaluation where the dynamic performance and trajectory of the multibody motion are particularly interested. The dynamic response and contact behavior of the rotating fingers acting on the fixed and moving objects are validated by comparing against published experimental results. The effectiveness of the dynamic modeling method, which relaxes the quasi-static assumption, has been demonstrated in the analyses of developing an automated transfer system involved grasping and handling objects by the compliant robotic hands. This FEM based dynamic model offers a more realistic simulation and a better understanding of the multibody motion for improving future design. It is expected that the method presented here can be applied to a spectrum of engineering applications where flexible multibody dynamics plays a significant role.

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Whittingham, Ben. "Applications of the kinematic modelling of a parallel kinematic mechanism machine tool." Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.272714.

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Reidy, John Joseph. "A kinematic analysis of redundant manipulators /." The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487267546982074.

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CORINALDI, DAVID. "Task Optimization of Functionally Redundant Parallel Kinematics Machines." Doctoral thesis, Università Politecnica delle Marche, 2017. http://hdl.handle.net/11566/245604.

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Ad oggi, l'impiego di robot industriali è sempre più diffuso per via della loro versatilità. Spesso tali macchine hanno una completa abilità nel posizionare e orientare il terminale in modo da coprire un campo di compiti da eseguire più variegato. Tuttavia esiste una vasta classe di compiti industriali che rendono ininfluente, al fine della realizzazione del compito, l'orientamento del terminale in una direzione, come ad esempio le operazioni di fresatura, saldatura e sgrossatura. Chiaramente questo implica una situazione di ridondanza tra robot e compito da eseguire, che porta alla domanda: quale orientamento attorno tale direzione conviene far adottare al terminale? La ridondanza costituisce un potenziale e l'esigenza di risultati sempre più stingenti ha guidato la ricerca verso la formulazione di tale domanda in un problema di ottimizzazione, trovando risposta nella sua successiva risoluzione. Nella definizione del problema ci si affida ad una funzione obiettivo spesso legata ad indici che quantificano le prestazioni del robot e che dipendono dalla configurazione assunta. L'argomento principale della tesi è la ridondanza funzionale che finora ha coinvolto i manipolatori seriali; nonostante l'estensione di queste teorie alla classe dei robot paralleli sia spesso dedotta, uno studio esaustivo non è ancora presente. I robot paralleli sono conosciuti per avere alta rigidezza, precisione e capacità di carico, caratteristiche che le rendono allettanti per le lavorazioni meccaniche. La tesi affronta la scrittura e la risoluzione numerica del problema di ottimizzazione per individuare la configurazione migliore di manipolatori paralleli in situazioni di ridondanza funzionale. Lo studio ha come oggetto la classe di robot paralleli il cui terminale può puramente ruotare per mettere in luce i vantaggi legati alla loro architettura; il problema viene esteso fino alla pianificazione ottima di traiettorie di puntamento con speciale enfasi sui compiti manifatturieri.
Nowadays, the use of industrial robots is increasingly popular because of their versatility. Frequently, these manipulators have a full ability to position and to orient the end-effector so as to cover a more varied range of tasks to be performed. However, there is a large class of industrial tasks in which the orientation of the terminal in one direction makes no influence to the achievement of the task, e.g. in milling, welding and deburring operations. Clearly this implies a redundancy situation between the manipulator and the task at hand, leading to the question: which orientation along this axis should the end-effector take during the task? Redundancy is a potential and the need for better performances has recently driven research into the formulation of the questions in an optimization problem and the subsequent resolution by means of algorithms. In the definition of the problem, we entrust to an objective function, often linked to indices that quantify the kinematic-static or dynamic performances of the robot and which depend on the posture assumed by the manipulator. The main subject of the thesis is functional redundancy which, so far, has involved serial manipulators; although the extension of the theories to the parallel kinematic machines (PKM) class is often deducted, a comprehensive study is missing. PKM are known to have strengths like higher rigidity, precision and load capacity than serial robots, features that make them more attractive for machining purposes. This thesis addresses the formulation and the resolution of the optimization problem to and the best posture of PKM in functional redundancy situations. The focus is on a particular class of parallel robots, able to the pure rotation of their mobile platform, and it allows to detect the advantages related to the particular architecture that they share. The topic is then extended to the optimal planning of pointing trajectories, with special emphasis on manufacturing tasks.

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Hu, Jun. "The kinematic analysis and metrology of cylindrical worm gearing." Thesis, University of Newcastle Upon Tyne, 1997. http://hdl.handle.net/10443/807.

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Worm gearing is very widely used, especially in heavy industry, but due to the complexity of worm gear geometry, worm gear research has lagged behind that for spur and helical gears. In the last decade, however, the potential for significant improvement in worm gearing has dramatically increased: computers have given greater freedom to analyse worm gearing; CNC machines make it possible to aim for optimised worm gear geometries with very high accuracy and the development of synthetic lubricants has substantially improved lubrication conditions. In the UK, over the last few years, research effort in the field of worm gearing has increased considerably. As a part of this recent activity in the UK, the author has been involved mainly in developing the analytical mechanics and metrology of worm gears. A method for the generalised 3D non-elastic worm gear mesh analysis and associated software have been developed and worm wheel metrology software has been implemented on a CNC measuring machine in the UK National Gear Metrology Laboratory, to allow, for the first time, analytical measurement of worm wheel tooth flanks. Combination of the mesh analysis software and CNC measurement of worm wheels has assisted in the design and manufacture of worm gears with modified tooth profiles. Two methods of 3D non-elastic worm gear analysis have been developed for conjugate action and non-conjugate action respectively. The conjugate analysis determines the lines of contact, sliding and rolling velocities, limitations of the working area (the envelope of contact lines on a worm surface and singularities on a wheel surface), principal relative curvatures and the orientations of contact lines. It is based on the B-matrix method [Zhang and Hu, 1989]. The non-conjugate analysis predicts entry and exit gaps, contact ratio, wear marking on the worm flank, instantaneous contact topology on all the engaged tooth flanks, total contact area, contact pattern and transmission error. This is based on numerical simulation of the actual worm gear running process under no-load. Although the non-elastic analysis models have been designed for any type of worm gearing, and have been used to study Cavex (ZC) wormgears and the meshing of a ZA Abstract worm with a helical gear, most of the work has been on involute (ZI) worm gearing, since this is, by far, the most commonly produced type in the UK. This thesis presents the work as follows: 1) The development of the B-Matrix kinematic method for conjugate analysis. The B-Matrix method, presented in chapter 2, elegantly simplifies the derivation and calculation procedures, since the geometric parameters and the motional parameters can be arranged in separate matrices. As a result, the models can be applied to different geometries and coordinate systems with no need for further difficult derivations. The method leads to an easier way of integrating the theory of various types of worm gearing into compact generalised models. It is much more convenient and reliable to let the computer formulate and solve matrix equations numerically, treating each matrix as a simple variable, than to develop analytically the corresponding long tedious non-linear equations. 2) The development of mathematical equations to allow CNC measuring machines to measure cylindrical worm wheels with respect to their mating worms. The measurements are 3-dimensional and absolute, in the sense that the results are the deviations from the theoretical geometries rather than comparative measurements relative to a (necessarily imperfect) master worm wheel. The measurement theory has been implemented on a particular CNC measuring machine. This is presented in chapters 3 and 5. 3) The development of the non-conjugate analysis. The fundamental basis of the non-conjugate analysis presented in this thesis is to rotate the worm wheel to bring its tooth flank into contact with the worm flank at each given angle of worm rotation, so that the no-load transmission error and gap contours can be determined. This method is suitable for both cylindrical and globoidal worm gears, since the rotation angles of worm and wheel are used to simulate the running process directly. Abstract The method also allows the wheel tooth flank to be obtained either by conjugate analysis of the hobbing process, or by analytical measurements or other methods (for example, when a theoretically-generated involute helical gear is used to mesh with a worm). This work is presented in chapter 4. 4) implementation of the non-elastic analysis theory. The non-elastic analysis software has been written for personal computers. In addition, dimensional calculations specified by BS 721 and commonly used hob design methods have been added to the non-elastic analysis software to increase user-friendliness. The software has been used to investigate the effects on the worm gear contact and performance of machining errors and profile deviations or modifications. The structure of this analysis software allows for the inclusion of new modules for other types of worm gearing without in any way disturbing the integrity of the program's existing abilities. The non-elastic analysis software is user-friendly with a "Windows" graphical user interface. Software reliability and error tolerance have been of particular concern during program development. This work is presented in chapter 5. 5) The software has been thoroughly validated against other published results and/or actual production. The software has been used extensively for both research and commercial purposes, and the user interface developed further in response to user feedback. Examples of these applications are given in chapter 7.

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MacCarthy, B. L. "A kinematic and dynamic analysis of latch needle cam systems." Thesis, University of Bradford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.374931.

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Szatmari, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2007. http://nbn-resolving.de/urn:nbn:de:swb:14-1194357963765-04082.

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The aim of using parallel kinematic motion systems as an alternative of conventional machine tools for precision machining has raised the demands made on the accuracy of identification of the geometric parameters that are necessary for the kinematic transformation of the motion variables. The accuracy of a parallel manipulator is not only dependent upon an accurate control of its actuators but also upon a good knowledge of its geometrical characteristics. As the platform's controller determines the length of the actuators according to the nominal model, the resulted pose of the platform is inaccurate. One way to enhance platform accuracy is by kinematic calibration, a process by which the actual kinematic parameters are identified and then implemented to modify the kinematic model used by the controller. The first and most general valuation criterion for the actual calibration approaches is the relative improvement of the motion accuracy, eclipsing the other aspects to pay for it. The calibration outlay has been underestimated or even neglected for a long time. The scientific value of the calibration procedure is not only in direct proportion to the achieved accuracy, but also to the calibration effort. These demands become particularly stringent in case of the calibration of hexapods of the so-called simple design. The objectives of the here proposed new calibration procedure are based on the deficits mentioned above under the special requirements due to the circumstances of the simple design-concept. The main goals of the procedure can be summarized in obtaining the basics for an automated kinematic calibration procedure which works efficiently, quickly, effectively and possibly low-cost, all-in-one economically applied to the parallel kinematic machines. The problem will be approached systematically and taking step by step the necessary conclu-sions and measurements through: Systematical analysis of the workspace to determine the optimal measuring procedure, measurements with automated data acquisition and evaluation, simulated measurements based on the kinematic model of the structure and identifying the kinematic parameters using efficient optimization algorithms. The presented calibration has been successfully implemented and tested on the hexapod of simple design `Felix' available at the IWM, TU Dresden. The obtained results encourage the application of the procedure to other hexapod structures.

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Szatmári, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design." Dresden : Inst. für Werkzeugmaschinen und Steuerungstechnik, Lehrstuhl für Werkzeugmaschinen, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016374557&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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Larsson, Fredrik. "Visual Servoing Based on Learned Inverse Kinematics." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8710.

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Initially an analytical closed-form inverse kinematics solution for a 5 DOF robotic arm was developed and implemented. This analytical solution proved not to meet the accuracy required for the shape sorting puzzle setup used in the COSPAL (COgnitiveSystems using Perception-Action Learning) project [2]. The correctness of the analytic model could be confirmed through a simulated ideal robot and the source of the problem was deemed to be nonlinearities introduced by weak servos unable to compensate for the effect of gravity. Instead of developing a new analytical model that took the effect of gravity into account, which would be erroneous when the characteristics of the robotic arm changed, e.g. when picking up a heavy object, a learning approach was selected.

As learning method Locally Weighted Projection Regression (LWPR) [27] is used. It is an incremental supervised learning method and it is considered a state-ofthe-art method for function approximation in high dimensional spaces. LWPR is further combined with visual servoing. This allows for an improvement in accuracy by the use of visual feedback and the problems introduced by the weak servos can be solved. By combining the trained LWPR model with visual servoing, a high level of accuracy is reached, which is sufficient for the shape sorting puzzle setup used in COSPAL.

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Gao, Jian. "Dynamic position sensing for parallel kinematic machine and new generation machine tool." Thesis, University of Nottingham, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268479.

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Eastwood, Sara. "Error mapping and analysis for hybrid parallel kinematic machines." Thesis, University of Nottingham, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.407093.

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Coombs, Dana Joseph. "Design of User-Weight-based Exercise Machines." Thesis, Virginia Tech, 1997. http://hdl.handle.net/10919/36761.

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This thesis describes the process of designing exercise machines that raise the weight of the user as the primary source of resistance. Most strength training machines use weight stacks or springs as the source of resistance. While such machines are highly evolved and provide an excellent workout, they typically have a number of disadvantages including high cost, and large size and weight. A user weight-based exercise design will reduce the cost, size, and weight of the machine. The design process considers some important issues. Parallelogram linkages are implemented to provide non-rotary motion without the disadvantage of linear bearings. The user input is located with respect to the user providing correct relative motion for the exercise. The design also considers proper resistance curves during the design process. Specific examples are given for each step of the design process. These examples include the evolution of ideas and the creation and use of kinematic and automatic tools.
Master of Science

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Akinci, Arda. "Universal Command Generator For Robotics And Cnc Machinery." Master's thesis, METU, 2009. http://etd.lib.metu.edu.tr/upload/12610579/index.pdf.

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In this study a universal command generator has been designed for robotics and CNC machinery. Encoding techniques has been utilized in order to represent the commands and their efficiencies have been discussed. The developed algorithm generates the trajectory of the end-effector with linear and circular interpolation in an offline fashion, the corresponding joint states and their error envelopes are computed with the utilization of a numerical inverse kinematic solver with a predefined precision. Finally, the command encoder employs the resulting data and produces the representation of positions in joint space with using proposed encoding techniques depending on the error tolerance for each joint. The encoding methods considered in this thesis are: Lossless data compression via higher order finite difference, Huffman Coding and Arithmetic Coding techniques, Polynomial Fitting methods with Chebyshev, Legendre and Bernstein Polynomials and finally Fourier and Wavelet Transformations. The algorithm is simulated for Puma 560 and Stanford Manipulators for a trajectory in order to evaluate the performances of the above mentioned techniques (i.e. approximation error, memory requirement, number of commands generated). According to the case studies, Chebyshev Polynomials has been determined to be the most suitable technique for command generation. Proposed methods have been implemented in MATLAB environment due to its versatile toolboxes. With this research the way to develop an encoding/decoding standard for an advanced command generator scheme for computer numerically controlled (CNC) machines in the near future has been paved.

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Ast, Alexandra. "Control concepts for machine tools with parallel kinematics and flexible bodies." Aachen Shaker, 2008. http://d-nb.info/989104877/04.

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Gundry, Jamie. "A near-perfect flying machine : the 3D kinematics of hoverfly flight." Thesis, University of Cambridge, 2011. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.609179.

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Melvin, Jason W. (Jason Webley). "Design of a kinematic coupling for machine tool fixturing." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/10556.

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Kucuk, Ali. "The Multi - Objective Path Placement Optimization Of Parallel Kinematic Machines." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615533/index.pdf.

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The aim of this study is to obtain optimal position and orientation of a trajectory frame with respect to the fixed frame of the manipulator. The work path which is given in the trajectory frame is also constrained in the workspace of the 3 &ndash
PRS parallel kinematic machine. In the analysis, forward and inverse kinematics solutions are derived as well as the inverse dynamics model using Lagrange&rsquo
s Method. Several algorithms governing the motion of the manipulator are developed. Moreover, optimization goals are defined and evaluated with the genetic algorithm.

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Gardner, John F. "Force distribution and trajectory control for closed kinematic chains with applications to walking machines /." The Ohio State University, 1987. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487331541709602.

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Caulfield-Browne, Mark. "The application of spline functions for kinematic motion design with particular reference to cam mechanisms." Thesis, University of Nottingham, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.239929.

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Pisipati, Deepak. "Virtual manufacturing of pockets using end milling with multiple tool paths." Ohio : Ohio University, 2004. http://www.ohiolink.edu/etd/view.cgi?ohiou1177011829.

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Ustun, Deniz. "Kinematic And Force Analyses Of Overconstrained Mechanisms." Master's thesis, METU, 2011. http://etd.lib.metu.edu.tr/upload/12613880/index.pdf.

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This thesis comprises a study on the kinematic and force analyses of the overconstrained mechanisms. The scope of the overconstrained mechanisms is too wide and difficult to handle. Therefore, the study is restricted to the planar overconstrained mechanisms. Although the study involves only the planar overconstrained mechanisms, the investigated methods and approaches could be extended to the spatial overconstrained mechanisms as well. In this thesis, kinematic analysis is performed in order to investigate how an overconstrained mechanism can be constructed. Four methods are used. These are the analytical method, the method of cognates, the method of combining identical modules and the method of extending an overconstrained mechanism with extra links. This thesis also involves the force analysis of the overconstrained mechanisms. A method is introduced in order to eliminate the force indeterminacy encountered in the overconstrained mechanisms. The results are design based and directly associated with the assembly phase of the mechanism.

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Dunton, Elizabeth Marie. "Kinematic and stability motion limits for a hexapod walking machine." Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1995. http://handle.dtic.mil/100.2/ADA295654.

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Thesis (M.S. in Computer Science) Naval Postgraduate School, March 1995.
"March 1995." Thesis advisor(s): Robert B. McGhee, Michael J. Zyda. Includes bibliographical references. Also available online.

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Ecorchard, Gaël. "Static accuracy enhancement of redundantly actuated parallel kinematic machine tools." [Auerbach/Vogtl.] Verl. Wiss. Scripten, 2010. http://d-nb.info/1000285359/04.

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Lyzell, Christian. "Modeling and Identification of the Gantry-Tau Parallel Kinematic Machine." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8366.

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This report presents work done in the field of modeling and identification of parallel kinematic machines. The results have been verified on the new Gantry-Tau prototype situated at the University of Queensland.

The inverse dynamic model for the 3-DOF Gantry-Tau has been validated and implemented to fit the new prototype. The present prototype enables 5-DOF of motion and a new model has been derived and the results are given.

Finally, an attempt to identify the parameters in the inverse dynamics models is presented. It turns out that the identification was not able to give accurate estimates.

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Ecorchard, Gaël. "Static Accuracy Enhancement of Redundantly Actuated Parallel Kinematic Machine Tools." Doctoral thesis, Universitätsbibliothek Chemnitz, 2010. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-200902064.

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Redundant parallel kinematic machines are parallel mechanisms to which one or more kinematic branch is added in order to improve their mechanical properties, in particular, their stiffness. Redundant parallel kinematic machines have then more actuators than their degree of freedom. New calibration methods are developed in this thesis in order to deal with the particularities related to the actuation redundancy. First, calibration methods using geometrical models are tested. Several measurement systems and control models are compared. A self-calibration is also carried out, where the redundant branches are switched to a passive mode. Thus, they play the role of the measurement system and the mechanism can be calibrated without the help of extra sensors. Geometrical calibration methods, however, do not take into account the internal constraints due to the redundancy. Elastic deformations are neglected although they are shown to have an influence on the positioning accuracy after the calibration. Modeling methods are then developed that take into account the geometry of the mechanism as well as the stiffness of its elements to improve the accuracy of the calibration. With such modeling methods, it is possible to determine the tool-center-point position for redundantly actuated parallel mechanisms from geometrical and stiffness parameters and given positions for all actuators. The modeling methods are first demonstrated on a simple mechanism. They are then tested on a real machine and used in calibration processes
Mechanismen mit redundanter Parallelkinematik sind Parallelmechanismen, denen eine oder mehrere kinematische Ketten zugefügt werden, um die mechanischen Eigenschaften, insbesondere die Steifigkeit, zu verbessern. Maschinen mit redundanter Parallelkinematik besitzen dann mehr Antriebe als ihr Freiheitsgrad erfordern würde. In dieser Dissertation werden neue Kalibrierungsmethoden entwickelt, um die mit der Antriebsredundanz gebundenen Besonderheiten zu betrachten. Zuerst werden Kalibrierungsmethoden basierend auf geometrischen Modellen getestet. Verschiedene Messmethoden und Messsysteme werden verglichen. Eine Selbstkalibrierung wird durchgeführt. Bei dieser Kalibrierungsmethode werden die redundanten Antriebe freigeschaltet und als Messsystem genutzt. Die Maschine kann dadurch ohne externes Messsystem kalibriert werden. Dennoch betrachten geometrische Kalibrierungsmethode keine internen Verspannungen, die mit der Redundanz verbunden sind. Die elastischen Verformungen werden vernachlässigt, obwohl gezeigt wird, dass sie einen Einfluss auf die Positioniergenauigkeit nach der Kalibrierung haben. Es werden deshalb Modellierungsmethoden entwickelt, die sowohl die Geometrie des Mechanismus als auch die Elementsteifigkeit betrachten, um die Genauigkeit der Kalibrierung zu verbessern. Mit solchen Methoden ist es möglich, die Werkzeugposition redundanter Parallelkinematiken aus den Geometrie- und Steifigkeitsparametern und allen Antriebspositionen zu bestimmen. Die Modellierungsmethoden werden zuerst an einem einfachen Mechanismus angewandt. Sie werden danach an einer realen Maschine getestet und in einem Kalibrierungsprozess genutzt
Les mécanismes à cinématique parallèle redondante sont des mécanismes parallèles auxquels a été ajoutée une branche cinématique, ou plus, dans le but d'améliorer leurs propriétés mécaniques, en particulier, leur rigidité. Les mécanismes à cinématique parallèle redondante possèdent donc plus d'actionneurs que leur degré de liberté. De nouvelles méthodes d'étalonnage sont développées dans cette thèse afin de prendre en compte les spécificités liées à la redondance d'actionnement. Les méthodes d'étalonnage utilisant des modèles géométriques sont d'abord testées. Plusieurs systèmes de mesure et plusieurs modèles de contrôle sont comparés. Un auto-étalonnage est aussi réalisé. Pour cette méthode d'étalonnage, les actionneurs redondants sont mis en mode passif et jouent le rôle de système de mesure. Le mécanisme peut être étalonné sans ajout de codeurs. Cependant, les méthodes d'étalonnage géométriques ne prennent pas en compte les contraintes internes liées à la redondance. Les déformations élastiques sont négligées bien qu'il soit montré qu'elles ont une influence sur la précision de positionnement après étalonnage. Des méthodes de modélisation qui prennent en compte la géométrie du mécanisme ainsi que la rigidité des éléments sont donc développées pour améliorer la précision de l'étalonnage. Avec de telles méthodes, il est possible de déterminer la position de l'outil des mécanismes à redondance d'actionnement à partir de paramètres géométriques et élastiques et de la position de tous les actionneurs. Les méthodes de modélisation sont d'abord appliquées sur un mécanisme simple. Elles sont ensuite testées sur une machine réelle et utilisées dans des processus d'étalonnage

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Dissertations / Theses on the topic 'Machinery, Kinematics of'

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