封面
声明
英文摘要
中文摘要
目录
List of Tables
List of Figures
List of Abbreviations
List of Symbols
Chapter 1 Introduction
1.1 Robotics as an Application of Mechatronics
1.2 Source of this Research
1.3 Practical and Theoretical Significance of the Research
1.4 Literature Review of Singularity of both Serial and Parallel Manipulators
1.5 Difficulty Points, Focal Points, and Main Contributions of the Research
1.6 Research Methodology
1.7 Dissertation Organization
Chapter 2 Background of Projective Geometry and Fundamental Concept of GCA
2.1 Introduction
2.2 From Vector Space to Projective Space
2.3 Projective Geometry in three-dimensional Projective Space
2.4 Homogeneous Coordinates and Plücker Coordinates Lines in Projective Space
2.5 Instantaneous Screw Axis
2.6 Fundamental Concept of Grassmann-Cayley Algebra
2.7 Conclusion of this Chapter
Chapter 3 Kinestatic:Global Wrench System and Twist System of Robot Manipulators based on Geometric Approach
3.1 Introduction
3.2 Geometric Approach to determine the Reciprocal Screws of Robot Manipulators
3.3 Geometric Approach of Reciprocal Screws for Prismatic, Revolute and Spherical Joint
3.4 Geometric Approach of Reciprocal Screws of Dyad Joint:R-S, P-S and P-R.
3.5 Twist Space and Wrench Space of Robot Manipulator
3.6 Graph System of Robot Manipulators
3.7 Conclusion of this Chapter
Chapter 4 Singularity Conditions for 3-PRS PMs with Variable Actuated Joint Using Grassmann-Cayley Algebra.
4.1 Introduction
4.2 Description and Adopted Representations of 3-PRS Parallel Manipulators
4.3 Instantaneous Mobility Analysis of each Limb PRS based on Twist System
4.4 The Global Wrench System and the Symbolic Approach of Plücker Coordinates Lines of 3-PRS Parallel Manipulators
4.5 Singularity Conditions for 3-PRS Parallel Manipulators based on Grassmann-Cayley Algebra
4.6 Wrench Graphs for 3-PRS PMs and for 3-PRS PMs
4.7 Conclusion of this chapter
Chapter 5 Singularity Condition of Wrist-Partitioned 6-R Serial Manipulator Using Grassmann-Cayley Algebra
5.1 Introduction
5.2 Description and Adopted Representations of a Wrist-Partitioned 6-R Serial Manipulator
5.3 Twist System and Its Associated Graph in the projective Space
5.4 Superbrackets Decomposition and the Singularity Conditions of Wrist-partitioned 6-R Serial Manipulators using Grassmann-Cayley Algebra
5.5 Conclusion of this chapter
Chapter 6 Interpretation of all Obtained Results and Verification of the Hypothesis
6.1 Introduction
6.2 Interpretation of all Obtained Results
6.3 Comparative Analysis and Rigidity of Framework
6.4 Verification of the Hypothesis
6.5 Conclusion of this Chapter
Chapter 7 Conclusions and Overview for Future Work based on GCA
7.1 Conclusions
7.2 Other Applications based on GCA
Publications related to this dissertation and Partial Fulfillment of the Requirements for the Degree of Doctor of Engineering
致谢
参考文献
华中科技大学;
