Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom Parallel Structure Manipulator

Abstract

This thesis covers a study on kinematic and dynamic analysis of a new type of spatial six degree of freedom parallel manipulator. The background for structural synthesis of parallel manipulators is also given. The structure of the said manipulator is especially designed to cover a larger workspace then well-known Stewart Platform and its derivates. The main point of interest for this manipulator is its hybrid actuating system, consisting of three revolute and three linear actuators.Kinematic analysis comprises forward and inverse displacement analysis. Screw Theory and geometric constraint considerations were the main tools used. While it was possible to derive a closed-form solution for the inverse displacement analysis, a numerical approach was used to solve the problem of forward displacement analysis. Based on the results of the kinematic analysis, a rough workspace study of the manipulator is also accomplished. On the dynamics part, attention has been given on inverse dynamics problem using Lagrange-Euler approach.Both high and lower level software were heavily utilized. Also computer software called .CASSoM. and .iMIDAS. are developed to be used for structural synthesis and inverse displacement analysis. The major contribution of the study to the scientific community is the proposal of a new type of parallel manipulator, which has to be studied extensively regarding its other interesting properties.