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dc.titleDevelopment of Two Cooperative Stewart Platforms for Machining
dc.contributor.authorVINCENSIUS BILLY SAPUTRA
dc.identifier.citationVINCENSIUS BILLY SAPUTRA (2012-12-12). Development of Two Cooperative Stewart Platforms for Machining. ScholarBank@NUS Repository.
dc.description.abstractThis 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.
dc.subjectStewart Plaforms, Calibration, Parallel Manipulator, 5-axis machining, path planning, workspace optimization
dc.contributor.departmentMECHANICAL ENGINEERING
dc.contributor.supervisorNEE YEH CHING, ANDREW
dc.contributor.supervisorONG SOH KHIM
dc.description.degreeconferredDOCTOR OF PHILOSOPHY
Appears in Collections:Ph.D Theses (Open)

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