Mechanical Engineering Commons^™

Mechanical Design Of An Experimental Parallel Robot, Philip Song

Theses

OSCAR, or Operational Space Controlled Adjustable Robot, is a parallel-actuated manipulator, also known as Stewart Platform or platform manipulator. The apparatus consists of two platforms (base and top) and six prismatic actuators in between. The main advantage of a platform manipulator is the fact that it can out-perform serial manipulators in both load capacity and precision. However, there are disadvantages and weaknesses such as limited mobility. A platform manipulator has reduced workspace compared to serial manipulators. The problem of limited workspace is solved by enabling OSCAR to change its prismatic leg positioning about the base platform.

During the course of …

Modeling Of 3d Swept Volumes Using Sde/Sede Methods And Its Application To Five-Axis Nc Machining, Liping Wang

Dissertations

This research falls in two important areas in solid modeling and manufacturing automation: (1) swept-volume modeling; (2) computer-based NC (Numerically controled) machining simulation and verification. The swept volume is defined as the volume swept by an object undergoing an arbitrary motion. Modeling of 3D swept volumes includes the boundary computation and representation of a swept volume generated by a general object undergoing general motion in three dimensional space. The Sweep Differential Equation (SDE) and Sweep Envelope Differential Equation (SEDE) methods are two of the important swept volume modeling methods employed in this dissertation. They exploit differential equations to obtain the …