Wang Kinematic Analysis , Dynamic Analysis and Static Balancing of Planar and Spatial Parallel Mechanisms or Manipulators with Revolute Actuators

This thesis deals with the kinematic analysis, dynamic analysis and static balancing of planar and spatial parallel mechanisms or manipulators with revolute actuators. The inverse kinematics of each mechanism is first computed and a nengeneral algorithm is used to locate the boundaries of the workspace of the mechanism. Two approaches. narnely. the algebraic formulation and the vector formulation are used to derive the velocity equations of the mechanisms. The singularity loci is then determined using the velocity equations. The approach of t-ector formulation is a new approach and leads to simpler expressions for the determination of the singularity loci . Kinematic optirnization of mechanisms 11-ith reduced degrees of freedom is also discussed in the thesis. The generalized reduced gradient method of optimization is used to find the optimal sohtions of the link parameters which enable the dependent Cartesian coordinates to follow an ideal trajectory as closely as possible when the independent Cartesian coordinates pass through some prescribed points. A new approach for the dynamic analysis of parallel mechanisms or manipulators is proposed in the thesis. This approach is based on the principle of virtual n-ork. -4s compared to the conventional approach of Newton-Euler? the new approach wilI lead to a faster algorithm for derivation of the generalized forces: which is useful for the control of a mechanism or manipulator. The Xen~on-Euler approach is also used for dynamic anaIysis of parallel mechanisms or manipulators. Since the constraint forces