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Visual Synthesis of Planar Parallel Manipulators using Constraint Manifold Geometry.

机译：使用约束歧管几何图形对平面并联机械手进行视觉合成。

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In this thesis, a visual approach for the dimensional synthesis of planar parallel manipulators is discussed. The presented approach transforms the kinematic constraint problem to a geometric constraint manifold manipulation problem.;For planar mechanisms, the kinematic constraint equations represent the limits for the motion of the links in the Cartesian space. The use of Quaternions is made in designing of this motion. The problem of motion of planar mechanisms is translated into a problem of designing of a smooth rational curve in the Quaternion space (Image space).;An intuitive graphical design tool has been developed. The design tool facilitates the user for synthesis of planar parallel manipulators. The design problem has been transformed into a problem of manipulation of surfaces so as to contain the curve in the volume between the surfaces, yielding the desired mechanism.

机译：本文讨论了一种用于平面并联机械手尺寸合成的可视化方法。提出的方法将运动约束问题转化为几何约束流形操纵问题。对于平面机构，运动约束方程表示笛卡尔空间中连杆运动的极限。在设计该运动时使用了四元数。平面机构的运动问题转化为在四元数空间（图像空间）中设计平滑有理曲线的问题。该设计工具方便了用户进行平面并联操纵器的综合。设计问题已转变为操纵表面的问题，以便将曲线包含在表面之间的体积中，从而产生所需的机制。

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作者
Anantwar, Sagar.;
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作者单位

State University of New York at Stony Brook.;

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授予单位 State University of New York at Stony Brook.;
学科 Engineering Mechanical.
学位 M.S.
年度 2011
页码 102 p.
总页数 102
原文格式 PDF
正文语种 eng
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专利

1. Dimensional synthesis and dynamic manipulability of a planar two-degree-of-freedom parallel manipulator [J] . J Wu J Wang L Wang H Shao Proceedings of the Institution of Mechanical Engineers . 2008,第C6期

机译：平面两自由度并联机械手的尺寸综合和动态可操纵性
2. Dimensional synthesis and dynamic manipulability of a planar two-degree-of-freedom parallel manipulator [J] . J. Wu, J. Wang, L. Wang, Proceedings of the Institution of Mechanical Engineers, Part C. Journal of mechanical engineering science . 2008,第6期

机译：平面两自由度并联机械手的尺寸综合和动态可操纵性
3. Wrench capability in redundant planar parallel manipulators with net degree of constraint equal to four, five or six [J] . Mejia L., Simas H., Martins D. Mechanism and Machine Theory: Dynamics of Machine Systems Gears and Power Trandmissions Robots and Manipulator Systems Computer-Aided Design Methods . 2016,第Null期

机译：净约束度等于4、5或6的冗余平面并联机械手的扳手能力
4. VISUAL SYNTHESIS OF RRR- AND RPR-LEGGED PLANAR PARALLEL MANIPULATORS USING CONSTRAINT MANIFOLD GEOMETRY [C] . Anurag Purwar, Aditya Gupta ASME international design engineering technical conferences;DETC2011;MECH;Mechanisms and robotics conference;Computers and information in engineering conference;CIE 2011 . 2012

机译：约束流形几何视觉合成RRR和RPR支腿平面并联机器人
5. Interactive dimensional synthesis of spherical 6R closed chains and planar parallel manipulators via constraint manifold modification. [D] . Gupta, Aditya. 2010

机译：球形6R闭合链和平面平行操纵器的交互尺寸合成，通过约束流形修改进行。
6. Multi-Objective Topology Optimization of a Compliant Parallel Planar Mechanism under Combined Load Cases and Constraints [O] . Gao Wang, Dachang Zhu, Ning Liu, 2017

机译：组合工况和约束条件下柔性平行平面机构的多目标拓扑优化
7. Synthesis of Differentially Driven Planar Cable Parallel Manipulators [O] . Hamed Khakpour, Lionel Birglen, Souheil-Antoine Tahan 2014

机译：差动平面电缆平行机械手的合成
8. Electroacoustic Probe Results Obtained in an Argon Afterglow Plasma for a Planar Geometry. [R] . karas,nicholas v. 1974

机译：用于平面几何的氩余辉等离子体中获得的电声探针结果。

Visual Synthesis of Planar Parallel Manipulators using Constraint Manifold Geometry.

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