Design and analysis of a 9 DOF : hybrid parallel robot

Rakhodaei, Hamid (2013). Design and analysis of a 9 DOF : hybrid parallel robot. University of Birmingham. Ph.D.

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Abstract

The research presented in this thesis discusses the design of a new configuration of a hybrid parallel robot with nine degrees of freedom. Parallel robots have been studied due to their high stiffness and accuracy rather than serial robots. However, parallel mechanisms have not been widely used in industry due to the lack of workspace. A major advantage of the proposed hybrid parallel robot is to increase the work volume while the stiffness of the system remains suitable for a range of industrial applications. Novel dynamic formulations have been developed by using Newton Euler and inverse kinematics in order to identify the best configurations based on stiffness and velocity of system in any particular position. The developed program determines the velocity and stiffness of the system for each configuration. A physical robot prototype built to test the developed theoretical model. The control strategies of the robot were developed and tested based on both point to point control and continuous path applications. The path between two points was selected based on the stiffness of the system in a particular position and orientation. A robotic ankle rehabilitation application was successfully used to verify the design of the proposed hybrid parallel robot.

Type of Work:

Thesis (Doctorates > Ph.D.)

Award Type:

Doctorates > Ph.D.

Supervisor(s):