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Dissertations / Theses on the topic 'Machine with parallel kinematics'

Author: Grafiati

Published: 28 May 2022

Last updated: 31 July 2025

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1

Centea, Dan Elbestawi Mohamed A. A. "Design, kinematics and dynamics of a machine tool based on parallel kinematic structure." *McMaster only, 2004.

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2

CORINALDI, DAVID. "Task Optimization of Functionally Redundant Parallel Kinematics Machines." Doctoral thesis, Università Politecnica delle Marche, 2017. http://hdl.handle.net/11566/245604.

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Ad oggi, l'impiego di robot industriali è sempre più diffuso per via della loro versatilità. Spesso tali macchine hanno una completa abilità nel posizionare e orientare il terminale in modo da coprire un campo di compiti da eseguire più variegato. Tuttavia esiste una vasta classe di compiti industriali che rendono ininfluente, al fine della realizzazione del compito, l'orientamento del terminale in una direzione, come ad esempio le operazioni di fresatura, saldatura e sgrossatura. Chiaramente questo implica una situazione di ridondanza tra robot e compito da eseguire, che porta alla domanda: q

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3

Ast, Alexandra. "Control concepts for machine tools with parallel kinematics and flexible bodies." Aachen Shaker, 2008. http://d-nb.info/989104877/04.

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4

Ast, Alexandra [Verfasser]. "Control Concepts for Machine Tools with Parallel Kinematics and Flexible Bodies / Alexandra Ast." Aachen : Shaker, 2008. http://d-nb.info/1162792299/34.

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5

Lou, Yunjiang. "Optimal design of parallel manipulators /." View abstract or full-text, 2006. http://library.ust.hk/cgi/db/thesis.pl?ECED%202006%20LOU.

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6

Gao, Jian. "Dynamic position sensing for parallel kinematic machine and new generation machine tool." Thesis, University of Nottingham, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.268479.

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7

Whittingham, Ben. "Applications of the kinematic modelling of a parallel kinematic mechanism machine tool." Thesis, University of Nottingham, 2001. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.272714.

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8

Ecorchard, Gaël. "Static accuracy enhancement of redundantly actuated parallel kinematic machine tools." [Auerbach/Vogtl.] Verl. Wiss. Scripten, 2010. http://d-nb.info/1000285359/04.

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9

Lyzell, Christian. "Modeling and Identification of the Gantry-Tau Parallel Kinematic Machine." Thesis, Linköping University, Department of Electrical Engineering, 2007. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-8366.

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<p>This report presents work done in the field of modeling and identification of parallel kinematic machines. The results have been verified on the new Gantry-Tau prototype situated at the University of Queensland.</p><p>The inverse dynamic model for the 3-DOF Gantry-Tau has been validated and implemented to fit the new prototype. The present prototype enables 5-DOF of motion and a new model has been derived and the results are given.</p><p>Finally, an attempt to identify the parameters in the inverse dynamics models is presented. It turns out that the identification was not able to give accur

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10

Ecorchard, Gaël. "Static Accuracy Enhancement of Redundantly Actuated Parallel Kinematic Machine Tools." Doctoral thesis, Universitätsbibliothek Chemnitz, 2010. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-200902064.

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Redundant parallel kinematic machines are parallel mechanisms to which one or more kinematic branch is added in order to improve their mechanical properties, in particular, their stiffness. Redundant parallel kinematic machines have then more actuators than their degree of freedom. New calibration methods are developed in this thesis in order to deal with the particularities related to the actuation redundancy. First, calibration methods using geometrical models are tested. Several measurement systems and control models are compared. A self-calibration is also carried out, where the redundant

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11

Ecorchard, Gaël. "Static Accuracy Enhancement of Redundantly Actuated Parallel Kinematic Machine Tools." Doctoral thesis, Verlag Wissenschaftliche Scripten, Zwickau, 2008. https://monarch.qucosa.de/id/qucosa%3A19252.

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Redundant parallel kinematic machines are parallel mechanisms to which one or more kinematic branch is added in order to improve their mechanical properties, in particular, their stiffness. Redundant parallel kinematic machines have then more actuators than their degree of freedom. New calibration methods are developed in this thesis in order to deal with the particularities related to the actuation redundancy. First, calibration methods using geometrical models are tested. Several measurement systems and control models are compared. A self-calibration is also carried out, where the redundant

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12

Tarquino, Brian Juan Auza. "Avaliação do erro estático da ferramenta de uma máquina fresadora com arquitetura paralela." Universidade de São Paulo, 2016. http://www.teses.usp.br/teses/disponiveis/3/3151/tde-04072016-132422/.

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Os mecanismos amplamente utilizados em aplicações industriais são de tipo serial, porém há algum tempo vem sendo desenvolvidos estudos sobre as vantagens que os mecanismos de arquitetura paralela oferecem em contraposição com os seriais. Rigidez, precisão, altas frequências naturais e velocidade são algumas características que os mecanismos paralelos atribuem a máquinas já consolidadas na indústria, destinadas principalmente nas operações de manipulação (pick and place). Nesse sentido, é relevante o estudo sobre a funcionalidade em outros tipos de operação como a usinagem e, particularmente o

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13

Rugbani, Ali Milud. "The design, kinematics and error modelling of a novel micro-CMM parallel manipulator." Thesis, Stellenbosch : Stellenbosch University, 2014. http://hdl.handle.net/10019.1/86518.

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Thesis (PhD)--Stellenbosch University, 2014.<br>ENGLISH ABSTRACT: The research presented in this dissertation establishes a micro-CMM parallel manipulator as a viable positioning device for three degree of freedom micro measurement applications. The machine offers the advantages associated with parallel kinematic manipulators, such as light carrying weight, high stiffness and no accumulation of errors, while avoiding some of the traditional disadvantages of parallel manipulators such as the associated effects of angular errors (Abbé error), singularity problems, work space limitation and the e

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14

Kucuk, Ali. "The Multi - Objective Path Placement Optimization Of Parallel Kinematic Machines." Master's thesis, METU, 2013. http://etd.lib.metu.edu.tr/upload/12615533/index.pdf.

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The aim of this study is to obtain optimal position and orientation of a trajectory frame with respect to the fixed frame of the manipulator. The work path which is given in the trajectory frame is also constrained in the workspace of the 3 &ndash<br>PRS parallel kinematic machine. In the analysis, forward and inverse kinematics solutions are derived as well as the inverse dynamics model using Lagrange&rsquo<br>s Method. Several algorithms governing the motion of the manipulator are developed. Moreover, optimization goals are defined and evaluated with the genetic algorithm.

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15

Shang, Mingdong. "A flexible fixture based on parallel kinematic machine for aircraft wing assembly automation." Thesis, Queen's University Belfast, 2016. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.709815.

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The research deals with the investigation and development of novel parallel kinematic machine (PKM) applications and simulations which can be integrated into an advanced fixturing solution that offers aerospace manufacturers a form of automation which is easily adaptive, agile, affordable and sustainable. To achieve this, the build process for an experimental composite wing has been studied and documented based on the use of single-use, dedicated fixturing. An equivalent, high level, automated fixturing configuration has been developed based on automated PKM technologies. Virtual validation of

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16

Huang, Ji Ming. "Design, modeling and control of a compliant parallel XY micro-motion stage with complete decoupling property." Thesis, University of Macau, 2011. http://umaclib3.umac.mo/record=b2493609.

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17

Rosa, João Gustavo Hermanson. "Influência do comportamento estrutural no erro de posicionamento de uma máquina de cinemática paralela." Universidade de São Paulo, 2007. http://www.teses.usp.br/teses/disponiveis/3/3151/tde-17012008-120657/.

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Apesar do esforço despendido pelas comunidades acadêmica e industrial (artigos, patentes e protótipos de laboratório), as Máquinas de Cinemática Paralela - MCPs - ainda apresentam uma participação inexpressiva no mercado de máquinasferramentas e robôs. Uma das razões para este fato são os seus baixos índices de acurácia e repetibilidade, em comparação aos das máquinas de usinagem convencionais. Este trabalho apresenta a avaliação dos mapeamentos de flexibilidade e da 1ª freqüência natural sobre o posicionamento da peça de trabalho e direções preferenciais de usinagem, dentro do espaço de traba

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18

Ancuta, Andreea Elena. "Machines parallèles 5-axes pour l'usinage aéronautique de pièces minces." Thesis, Montpellier 2, 2010. http://www.theses.fr/2010MON20051.

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Actuellement, certaines pièces aéronautiques sont usinées par des procédés chimiques efficaces, mais mettant en jeu des produits polluants et dangereux pour les ouvriers qui travaillent à leur contact. Par conséquent, il est impératif de trouver une solution qui serait au minimum aussi compétitive que l'usinage chimique et beaucoup moins risquée pour l'homme et l'environnement. Dans cette optique, l'usinage à grande vitesse (UGV) constitue une alternative sérieuse et efficace. Depuis des années, les machines-outils à structure parallèle ont fait leur preuve dans l'UGV. C'est donc dans ce conte

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19

Teichgräber, Carsten. "Kinematische Optimierung einer parallelkinematischen Bewegungseinheit im Entwurfsprozess mit Mathcad." Universitätsbibliothek Chemnitz, 2012. http://nbn-resolving.de/urn:nbn:de:bsz:ch1-qucosa-86951.

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Der Vortrag verdeutlicht die Möglichkeiten der Mathcad-Funktionen "Minimieren" bzw. "Maximieren" durch ein komplexes Beispiel aus dem Gebiet der parallelkinematischen Robotik. Innerhalb eines technologisch geforderten Arbeitsbereiches werden durch Auswertung der Vorwärts- und Rückwärtsinformation Bewertungskriterien erfasst und anschaulich dargestellt. Durch eine geeignete Formulierung mit den "Programmier"-Werkzeugen von Mathcad kann die Bewertung in einer Funktion über den gesamten Arbeitsraum automatisiert aufgerufen werden. Diese Aufbereitung gestattet die Anwendung der "Maximieren"-Funkti

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20

Юрчишин, О. Я., та В. Б. Струтинський. "Застосування нечітких множин для характеристик просторових рухів шпинделя верстата паралельної кінематики". Thesis, Сумський державний університет, 2014. http://essuir.sumdu.edu.ua/handle/123456789/38172.

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Верстати паралельної кінематики мають складні просторові рухи виконавчого органу. Дані процеси виникають в зв’язку із спеціальним схемним рішенням верстата, в якому виконавчий орган переміщується зміною довжини або положенням штанг, на яких встановлено виконавчий орган. В процесі обробки деталей, при зміні напрямку руху штанги виникають високочастотні коливання виконавчого органу верстата. Для оцінки високочастотних просторових динамічних рухів у багатокоординатних верстатах застосовані методи математичного моделювання. Алгоритм побудови загальної моделі верстата включає створення математичних

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21

Романенко, Є. В. "Дослідження робочого простору верстатів з паралельною кінематикою". Thesis, Сумський державний університет, 2017. http://essuir.sumdu.edu.ua/handle/123456789/67415.

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22

Tvardek, Michal. "Návrh automatizovaného měřicího pracoviště s průmyslovým robotem." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2013. http://www.nusl.cz/ntk/nusl-230961.

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This master's thesis focuses on the use of the Renishaw's Equator gauging system in cooperation with the industrial robot. The target is to design the robotized workcell which contains these two products. Robot acts as a manipulator for inserting and sorting out the workpieces into the "good" and "bad" pallets according to measured results from the Equator. Equator uses a parallel kinematics and probing system which is normally used on coordinate measuring machines. Therefore there is the introduction to the parallel and serial kinematic structures, to the problems of the coordinate measuring

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23

Eastwood, Sara. "Error mapping and analysis for hybrid parallel kinematic machines." Thesis, University of Nottingham, 2004. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.407093.

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24

Szatmari, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2007. http://nbn-resolving.de/urn:nbn:de:swb:14-1194357963765-04082.

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The aim of using parallel kinematic motion systems as an alternative of conventional machine tools for precision machining has raised the demands made on the accuracy of identification of the geometric parameters that are necessary for the kinematic transformation of the motion variables. The accuracy of a parallel manipulator is not only dependent upon an accurate control of its actuators but also upon a good knowledge of its geometrical characteristics. As the platform's controller determines the length of the actuators according to the nominal model, the resulted pose of the platform is ina

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25

Szatmári, Szabolcs. "Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design." Dresden : Inst. für Werkzeugmaschinen und Steuerungstechnik, Lehrstuhl für Werkzeugmaschinen, 2007. http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&doc_number=016374557&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA.

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26

Nanua, Prabjot. "Direct kinematics of parallel mechanisms." The Ohio State University, 1988. http://rave.ohiolink.edu/etdc/view?acc_num=osu1335458031.

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27

Pateloup, Sylvain. "Modélisations et aptitudes à l'emploi des machines-outils à structure parallèle : vers une optimisation dirigée du processus." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2011. http://tel.archives-ouvertes.fr/tel-00609682.

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Les travaux de recherche présentés dans ce mémoire concernent la prédiction et l'amélioration des performances des machines-outils à structure parallèle dans le but de produire des pièces conformes à la qualité requise en un temps minimal. Le problème abordé permet de déterminer l'influence de la structure sur la productivité et la qualité de la pièce usinée dans le contexte de l'Usinage à Grande Vitesse de pièces automobiles et aéronautiques. Ce travail propose alors des avancées suivant deux axes fondamentaux : - la modélisation du comportement anisotrope de la cellule d'usinage ; - la propo

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28

Battistelli, Massimiliano. "Co-operative control strategies of parallel kinematic machines for peg-in-hole assembly operations." Doctoral thesis, Università Politecnica delle Marche, 2015. http://hdl.handle.net/11566/243040.

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Il termine “Robotica” raccoglie un gran numero di concetti che vengono principalmente dalla Meccanica, Elettronica, Scienze del controllo e Tecnologie del Software. Questa scienza si è iniziata a sviluppare durante gli anni ’50 ma per un suo vasto utilizzo in campo industriale si sono dovuti attendere gli anni ’80. Inizialmente, si è cercato di automatizzare le operazioni maggiormente rischiose per l’uomo e in cui non vi fosse contatto fra robot e ambiente come ad esempio la saldatura con elettrodi e la verniciatura. Negli ultimi anni, si stanno cercando di automatizzare le operazioni più co

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29

Yang, Yawei. "Kinematics, singularity and design of parallel robots." Laramie, Wyo. : University of Wyoming, 2008. http://proquest.umi.com/pqdweb?did=1597619111&sid=1&Fmt=2&clientId=18949&RQT=309&VName=PQD.

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30

Xu, Qing Song. "Kinematics, dynamics and control of parallel robots." Thesis, University of Macau, 2004. http://umaclib3.umac.mo/record=b1446180.

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31

Ren, Ping. "Kinematics Analysis of Two Parallel Locomotion Mechanisms." Diss., Virginia Tech, 2010. http://hdl.handle.net/10919/28909.

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This dissertation presents the kinematics study on two cases of parallel locomotion mechanisms. A parallel locomotion mechanism can be defined as â a mechanism with parallel configuration and discrete contact with respect to the ground which renders a platform the ability to moveâ . The first case is a tripedal robot and the second case is an actuated spoke wheel robot. The kinematics study on these two mobile robots mainly includes mobility, inverse and forward kinematics, instantaneous kinematics, singularity and so on. The tripedal robot STriDER (Self-excited Tripedal Dynamic Experimenta

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32

Романенко, Є. В. "Дослідження статичної жорсткості фрезерно-свердлильних верстатів з паралельною кінематикою зі штангами постійної і змінної довжини". Master's thesis, Сумський державний університет, 2018. http://essuir.sumdu.edu.ua/handle/123456789/72029.

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Кваліфікаційна робота магістра викладена на 100 сторінках, в тому числі 62 рисунка, бібліографії з 28 джерел на трьох сторінках. На сьогодні постала нагальна науково-технічна проблема визначення найбільш жорсткої конструкції серед верстатів з паралельною кінематикою та вдосконалення даних верстатів, щоб збільшити їх жорсткість без втрат головних переваг. Метою роботи є аналіз жорсткості і вібростійкості верстатів з паралельною кінематикою з різними конструктивними рішеннями. Завдання роботи. Розрахувати на жорсткість верстати з паралельною кінематикою з різними конструктивними рішеннями, ро

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33

Murthy, Vasudeva S. "Kinematics of serial manipulators and their parallel duals /." The Ohio State University, 1990. http://rave.ohiolink.edu/etdc/view?acc_num=osu1487685204970642.

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34

Van, Walsum Eric. "Direct and inverse kinematics of a highly parallel manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ29634.pdf.

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35

Hertz, Roger Barry. "Kinematics and design of a class of parallel manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/tape17/PQDD_0008/NQ35185.pdf.

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36

Cheung, Wing-fung Jacob. "Kinematics, dynamics and control of high precision parallel manipulators." Click to view the E-thesis via HKUTO, 2007. http://sunzi.lib.hku.hk/hkuto/record/B37907116.

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Cheung, Wing-fung Jacob, and 張穎鋒. "Kinematics, dynamics and control of high precision parallel manipulators." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 2007. http://hub.hku.hk/bib/B37907116.

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38

Torrão, João Nuno Delgado. "Control and execution of incremental forming using parallel kinematics." Master's thesis, Universidade de Aveiro, 2013. http://hdl.handle.net/10773/11657.

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Mestrado em Engenharia Mecânica<br>O projeto SPIF-A é um verdadeiro desa o de engenharia: desenvolver uma má- quina totalmente nova e inovadora para conformação plástica de chapa. Trata-se principalmente de um trabalho de equipa, que abrange varias áreas da engenharia mecânica, desde análise estrutural até automação e controlo, passando pela termodin âmica e cinemática, entre outras. Esta dissertação sendo mais uma peça no puzzle, vai-se focar no seu desenvolvimento, principalmente no estudo da cinemática inversa e directa da plataforma de Stewart, assim como no desenvolvimento do prime

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39

King, Tony Richard. "Parallel image manipulation machine architecture." Thesis, University of Cambridge, 1987. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.257001.

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Moon, Gordon Euhyun. "Parallel Algorithms for Machine Learning." The Ohio State University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=osu1561980674706558.

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41

Chan, Vincent K. "Singularity analysis and redundant actuation of parallel manipulators." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17766.

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42

Naik, Soumendra. "Concurrent programming using Parallel Virtual Machine." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/MQ38398.pdf.

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43

Garg, Amit. "Three Essays in Parallel Machine Scheduling." Case Western Reserve University School of Graduate Studies / OhioLINK, 2008. http://rave.ohiolink.edu/etdc/view?acc_num=case1196441940.

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44

Kurtz, Ronald L. "Kinematics and optimization of a parallel robotic wrist mechanism with redundancey." Thesis, McGill University, 1989. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22376.

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This thesis presents a new robot wrist design that is fully parallel and actuator redundant. Actuator redundancy refers to the addition of more actuators than are strictly necessary to control the mechanisms without increasing the mobility. The uses of this form of redundancy include the ability to partially control the internal forces, increase the workspace, remove singularities and augment the dexterity. As the proposed wrist design is fully parallel, it exhibits high structural rigidity accompanied by a large load carrying capacity as well as superior dynamic response.<br>In the first part

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45

Gan, Dongming. "Type synthesis, kinematics analysis and dynamic modelling of metamorphic parallel mechanisms." Thesis, King's College London (University of London), 2018. https://kclpure.kcl.ac.uk/portal/en/theses/type-synthesis-kinematics-analysis-and-dynamic-modelling-of-metamorphic-parallel-mechanisms(e9745c0e-4641-4d82-904b-9c3c22ab224f).html.

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Metamorphic parallel mechanisms (MPMs) are a class of mechanisms that possess adaptability and reconfigurability to change permanent finite mobility based on topological structure change. Metamorphic parallel mechanisms keep the advantages of traditional parallel mechanisms in terms of high load-carrying capacity, good positioning accuracy and low inertia but with reconfiguration. MPMs are a new class of reconfigurable parallel mechanisms and have not been studied much. Therefore, this thesis is devoted to explore the fundamentals of mechanism theory on MPMs by focusing on two parts: (1) Syste

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46

Zhang, Jie. "An introduction to the parallel virtual machine." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape7/PQDD_0006/MQ43670.pdf.

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Kawakami, K. "Parallel structure storage in a dataflow machine." Thesis, University of Manchester, 1988. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.234203.

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48

Mendizabal, Odorico Machado. "Fast recovery in parallel state machine replication." Pontif?cia Universidade Cat?lica do Rio Grande do Sul, 2016. http://tede2.pucrs.br/tede2/handle/tede/6879.

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Submitted by Setor de Tratamento da Informa??o - BC/PUCRS (tede2@pucrs.br) on 2016-08-04T16:39:32Z No. of bitstreams: 1 TES_ODORICO_MACHADO_MENDIZABAL_COMPLETO.pdf: 1253774 bytes, checksum: 8ab2360ff12ca83b15b415cba7eda7de (MD5)<br>Made available in DSpace on 2016-08-04T16:39:32Z (GMT). No. of bitstreams: 1 TES_ODORICO_MACHADO_MENDIZABAL_COMPLETO.pdf: 1253774 bytes, checksum: 8ab2360ff12ca83b15b415cba7eda7de (MD5) Previous issue date: 2016-05-16<br>A well-established technique used to design fault-tolerant systems is state machine replication. In part, this is explained by the simplicity of

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Литвинов, Д. Ю. "Дослідження жорсткості металообробних верстатів з паралельною кінематикою за допомогою чисельних методів". Master's thesis, Сумський державний університет, 2019. http://essuir.sumdu.edu.ua/handle/123456789/75508.

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Кваліфікаційна робота магістра становить 93 сторінки, в тому числі 80 рисунків, сім таблиць, бібліографії із 24 джерел на двох сторінках, двох додатків на 19 сторінках. Мета роботи. Запропонувати раціональну конструкцію верстатів з паралельною кінематикою за умови їх виробництва та застосування в Сумській області шляхом перевірки її жорсткості на основі застосування чисельних методів. Для досягнення поставленої мети в роботі були встановлені та вирішенні наступні завдання: 1) виконати аналіз виробів під час виготовленні яких можуть бути задіяні верстати з паралельною кінематикою; 2) виконати

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Modungwa, Dithoto. "Design and analysis of a reconfigurable parallel kinematic machine tool." Thesis, 2010. http://encore.tut.ac.za/iii/cpro/DigitalItemViewPage.external?sp=1000642.

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Thesis (MTech. degree in Mechanical Engineering)--Tshwane University of Technology, 2010.<br>This research aimed to develop a Reconfigurable Parallel Kinematic Machine Tool (RPKMT) to be utilized in the maintenance and reconditioning of moulds and dies. The dissertation presents three conceptual designs of a mechanical manipulator, based on specifications required for refurbishing of moulds and dies. Kinematics and mechanical requirements were derived from manufacturing processes and the recommended repair solutions (i.e. steps/operations) required for the specific defect. These requirements r

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