Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/47370
Title: Development of Two Cooperative Stewart Platforms for Machining
Authors: VINCENSIUS BILLY SAPUTRA
Keywords: Stewart Plaforms, Calibration, Parallel Manipulator, 5-axis machining, path planning, workspace optimization
Issue Date: 12-Dec-2012
Source: VINCENSIUS BILLY SAPUTRA (2012-12-12). Development of Two Cooperative Stewart Platforms for Machining. ScholarBank@NUS Repository.
Abstract: This research investigates the application of Parallel Kinematic Manipulators (PKM), namely Stewart platforms, for such manufacturing applications especially for machining and positioning. PKMs have inherent properties for machining applications, but the main constraint of PKMs is the limited workspace. In this study, cooperative manipulators comprising a configuration of two Stewart platforms is built. One of them carries the tool and the other one holds the object. This approach increases the flexibility of the cooperative manipulators to handle multi-axis machining jobs and enables the cooperative manipulators to achieve larger workspace and wider tilting ranges. The scope of this research includes the modelling of the Stewart platforms, design methodology for optimal geometric parameters, path planning optimization, and test of a prototype for error compensation and an analysis of the machining results. Development and results of the cooperative manipulators is presented.
URI: http://scholarbank.nus.edu.sg/handle/10635/47370
Appears in Collections:Ph.D Theses (Open)

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