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Document Description
Title
The
computer-aided
structural
design
of
robotic
manipulators
Author
Subbiah
,
Mahalingam
Description
Thesis
(M.Eng.)--Memorial
University
of
Newfoundland
,
1986.
Engineering
and
Applied
Science
Date
1986
Pagination
xvi, 209 leaves : ill.
Subject
Robotics;
Manipulators
(Mechanism);
Computer-aided
design;
Engineering
design--Data
processing
Degree
M.Eng.
Degree Grantor
Memorial University of Newfoundland. Faculty of Engineering and Applied Science
Discipline
Engineering and Applied Science
Language
Eng
Notes
Bibliography:
leaves
160-163.
Abstract
The
research
carried
out
in this
work
involves
the
kinematic
and
dynamic
analyses
of the
robotic
manipulators.
The
kinematic
analysis
includes
the
displacement
analysis
of the
planar
and
spatial
mechanisms
as
well
as the
velocity
and
acceleration
analyses.
In the
dynamic
analysis
, the
variation
of the
natural
frequencies
and the
dynamic
condensation
techniques
have been
studied.
--
The
displacement
analysis
of the
open
and
closed-loop
systems
have been
carried
out
using
the
optimization
principles
and the
modified
Newton-Raphson
technique.
The
velocity
and
acceleration
analyses
have been
divided
into
two
categories:
in the
first
one
, the
number
of
unknowns
are
either
greater
or
less
than
three
and in the
second
one
they are
equal
to
three.
The
first
type
is
solved
using
the
modified
Newton-Raphson
technique
whereas
the
second
type
solved
by
simultaneous
solution
of the
equations.
--
To
carry
out
the
dynamic
analysis
, the
equations
of
motion
have been
obtained
using
the
finite
element
analysis.
The
system
matrices
for the
robotic
manipulators
are also
dependent
on the
angular
velocities
and
angular
acceleration.
Several
new
methods
of
obtaining
the
matrix
of
direction
cosines
needed
to
represent
the
orientation
of the
local
axes
with
respect
to the
global
axes
, are
discussed.
The
natural
frequencies
as a
result
of the
variation
of
several
design
parameters
have been
obtained.
Finally
, a
comparative
study
on the
two
types
of
dynamic
condensation
schemes
have been
carried
out
using
a
machine
tool
spindle
and a
robotic
manipulator
as
examples.
Type
Text
Resource Type
Electronic
thesis
or
dissertation
Format
Image/jpeg;
Application/pdf
Source
Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries
Local Identifier
75380776
Rights
The author retains copyright ownership and moral rights in this thesis. Neither the thesis nor substantial extracts from it may be printed or otherwise reproduced without the author's permission.
Collection
Electronic
Theses
and
Dissertations
Scanning Status
Completed
PDF File
(25.57
MB)
--
http://collections.mun.ca/PDFs/theses/Subbiah_Mahalingam.pdf
CONTENTdm file name
43374.cpd
