Kinematic and Dynamic Analysis of Spatial Six Degree of Freedom ...

ABSTRACT
This thesis covers a study on kinematic and dynamic analysis of a new type of spatial
six degree of freedom parallel manipulator. The background for structural synthesis of parallel
manipulators is also given. The structure of the said manipulator is especially designed to
cover a larger workspace then well-known Stewart Platform and its derivates. The main point
of interest for this manipulator is its hybrid actuating system, consisting of three revolute and
three linear actuators.
Kinematic analysis comprises forward and inverse displacement analysis. Screw
Theory and geometric constraint considerations were the main tools used. While it was
possible to derive a closed-form solution for the inverse displacement analysis, a numerical
approach was used to solve the problem of forward displacement analysis. Based on the
results of the kinematic analysis, a rough workspace study of the manipulator is also
accomplished. On the dynamics part, attention has been given on inverse dynamics problem
using Lagrange-Euler approach.
Both high and lower level software were heavily utilized. Also computer software
called ‘CASSoM’ and ‘iMIDAS’ are developed to be used for structural synthesis and inverse
displacement analysis. The major contribution of the study to the scientific community is the
proposal of a new type of parallel manipulator, which has to be studied extensively regarding
its other interesting properties.
ii