Kinematic analysis of reconfigurable parallel manipulators

Abstract : A lower mobility parallel manipulator has less than six degrees of freedom and usually exhibits different motion types known as operation modes. Thus, it can be classified as reconfigurable on account of its ability to transition between different operation modes. This doctoral thesis mainly revolves around the kinematic analysis of some lower-mobility parallel manipulators, series-parallel manipulators obtained from their serial stacking and compliant mechanisms designed using their constraint singular configurations. Study's kinematic mapping is used to derive the algebraic constraint equations. They are further interpreted using algebraic geometry tools to perform mobility, kinematic and singularity analysis. Screw theory and line geometry techniques are used adjacent to algebraic approach wherever necessary.
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Abhilash Nayak. Kinematic analysis of reconfigurable parallel manipulators. Automatic. École centrale de Nantes, 2018. English. ⟨NNT : 2018ECDN0057⟩. ⟨tel-02056505⟩

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