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Parametric sweep search for parallel robot workspace determination

Abdullah, Che Zulkhairi (2013)
Ph.D. thesis, University of Birmingham.

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The research involves the development of a 3-dimensional simulation system based on Python in order to search for workspace and singularity of parallel robots. The work is based on the principles of Kinematic and Grassman analysis, which integrates easily with various algorithms. The simulation system produces a scalable result suitable for interval and slicing analysis. The code should work effortlessly when user redefines the architecture or geometry of the robot. Boolean Parametric sweep search strategy has been developed for further analysis and validation of the system. The system has to consider various factors such as limits, edges, resolution, and travel direction. It involves the integration of 3D and 4D interpolation and extrapolation strategies including Trilinear and L-system fractal, which are controlled by Boolean algorithm. A haptic force-feedback controller has been developed, which is a multiple Degree-of-Freedom device with two-way motor control for all axes. Sensors are used to provide pre-processed values for distance and orientation on all axes. The haptic device provides (i) control for the Python simulation, (ii) processed data to a Matlab and Solid Works models, and (iii) singularity-free control of an associated physical robot. The proposed system was successfully verified against a number of applications.

Type of Work:Ph.D. thesis.
Supervisor(s):Saadat, Mozafar
School/Faculty:Colleges (2008 onwards) > College of Engineering & Physical Sciences
Department:School of Mechanical Engineering
Subjects:QA75 Electronic computers. Computer science
TJ Mechanical engineering and machinery
Institution:University of Birmingham
ID Code:4665
This unpublished thesis/dissertation is copyright of the author and/or third parties. The intellectual property rights of the author or third parties in respect of this work are as defined by The Copyright Designs and Patents Act 1988 or as modified by any successor legislation. Any use made of information contained in this thesis/dissertation must be in accordance with that legislation and must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the permission of the copyright holder.
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