Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/121103
Title: A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES
Authors: YAN SHIJUN
Keywords: hybrid robot, parallel manipulator, workspace analysis, stiffness analysis, optimization design, robot registration
Issue Date: 22-May-2015
Citation: YAN SHIJUN (2015-05-22). A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES. ScholarBank@NUS Repository.
Abstract: Machining of complex surfaces (MOCS) is a global technological topic. This study constructs a hybrid robot to combine the advantages of a serial robot and a parallel manipulator. The serial robot works as an approximate positioner and is locked during machining. The parallel manipulator is used for fine-tuning and completes the machining task. In order to improve the performance of the parallel manipulator, a method is proposed to optimize the dexterity, stiffness and space utilization of the parallel manipulator. Additionally, this study gives a first attempt to propose several different methods to address the registration of the hybrid robot. Comparing with a CNC machining center and a serial robot, the accuracy of the hybrid robot is much better than the serial robot. Although the accuracy of the hybrid robot cannot reach the level of the CNC machining center, it should be noted that the hybrid robot is more flexible.
URI: http://scholarbank.nus.edu.sg/handle/10635/121103
Appears in Collections:Ph.D Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
YanSJ.pdf2.75 MBAdobe PDF

OPEN

NoneView/Download

Page view(s)

105
checked on Dec 14, 2018

Download(s)

179
checked on Dec 14, 2018

Google ScholarTM

Check


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.