The computer-aided structural design of robotic manipulators
Thesis (M.Eng.)--Memorial University of Newfoundland, 1986. Engineering and Applied Science Bibliography: leaves 160-163. 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 pl...
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ftmemorialunivdc:oai:collections.mun.ca:theses2/43373 2023-05-15T17:23:30+02:00 The computer-aided structural design of robotic manipulators Subbiah, Mahalingam Memorial University of Newfoundland. Faculty of Engineering and Applied Science 1986 xvi, 209 leaves : ill. Image/jpeg; Application/pdf http://collections.mun.ca/cdm/ref/collection/theses2/id/43373 Eng eng Electronic Theses and Dissertations (25.57 MB) -- http://collections.mun.ca/PDFs/theses/Subbiah_Mahalingam.pdf 75380776 http://collections.mun.ca/cdm/ref/collection/theses2/id/43373 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. Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries Robotics Manipulators (Mechanism) Computer-aided design Engineering design--Data processing Text Electronic thesis or dissertation 1986 ftmemorialunivdc 2015-08-06T19:16:35Z Thesis (M.Eng.)--Memorial University of Newfoundland, 1986. Engineering and Applied Science Bibliography: leaves 160-163. 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. Thesis Newfoundland studies University of Newfoundland Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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Memorial University of Newfoundland: Digital Archives Initiative (DAI) |
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ftmemorialunivdc |
language |
English |
topic |
Robotics Manipulators (Mechanism) Computer-aided design Engineering design--Data processing |
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Robotics Manipulators (Mechanism) Computer-aided design Engineering design--Data processing Subbiah, Mahalingam The computer-aided structural design of robotic manipulators |
topic_facet |
Robotics Manipulators (Mechanism) Computer-aided design Engineering design--Data processing |
description |
Thesis (M.Eng.)--Memorial University of Newfoundland, 1986. Engineering and Applied Science Bibliography: leaves 160-163. 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. |
author2 |
Memorial University of Newfoundland. Faculty of Engineering and Applied Science |
format |
Thesis |
author |
Subbiah, Mahalingam |
author_facet |
Subbiah, Mahalingam |
author_sort |
Subbiah, Mahalingam |
title |
The computer-aided structural design of robotic manipulators |
title_short |
The computer-aided structural design of robotic manipulators |
title_full |
The computer-aided structural design of robotic manipulators |
title_fullStr |
The computer-aided structural design of robotic manipulators |
title_full_unstemmed |
The computer-aided structural design of robotic manipulators |
title_sort |
computer-aided structural design of robotic manipulators |
publishDate |
1986 |
url |
http://collections.mun.ca/cdm/ref/collection/theses2/id/43373 |
genre |
Newfoundland studies University of Newfoundland |
genre_facet |
Newfoundland studies University of Newfoundland |
op_source |
Paper copy kept in the Centre for Newfoundland Studies, Memorial University Libraries |
op_relation |
Electronic Theses and Dissertations (25.57 MB) -- http://collections.mun.ca/PDFs/theses/Subbiah_Mahalingam.pdf 75380776 http://collections.mun.ca/cdm/ref/collection/theses2/id/43373 |
op_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. |
_version_ |
1766112813825130496 |