Please use this identifier to cite or link to this item:
Title: Development of Two Cooperative Stewart Platforms for Machining
Keywords: Stewart Plaforms, Calibration, Parallel Manipulator, 5-axis machining, path planning, workspace optimization
Issue Date: 12-Dec-2012
Citation: 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.
Appears in Collections:Ph.D Theses (Open)

Show full item record
Files in This Item:
File Description SizeFormatAccess SettingsVersion 
VBS_Thesis_Final.pdf4.58 MBAdobe PDF



Page view(s)

checked on May 22, 2019


checked on May 22, 2019

Google ScholarTM


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