A new overconstrained Gough-Stewart platform-based manipulator operating under force control

Luzi, Luca (2019) A new overconstrained Gough-Stewart platform-based manipulator operating under force control, [Dissertation thesis], Alma Mater Studiorum Università di Bologna. Dottorato di ricerca in Meccanica e scienze avanzate dell'ingegneria, 31 Ciclo.
Documenti full-text disponibili:
[img] Documento PDF (English) - Accesso riservato fino a 30 Settembre 2020 - Richiede un lettore di PDF come Xpdf o Adobe Acrobat Reader
Disponibile con Licenza: Salvo eventuali più ampie autorizzazioni dell'autore, la tesi può essere liberamente consultata e può essere effettuato il salvataggio e la stampa di una copia per fini strettamente personali di studio, di ricerca e di insegnamento, con espresso divieto di qualunque utilizzo direttamente o indirettamente commerciale. Ogni altro diritto sul materiale è riservato.
Download (4MB) | Contatta l'autore

Abstract

In vitro tests are essential to better understand the human joint behavior and to design more accurate prostheses and orthoses. In the literature, several test rigs have been presented that can be used to characterize the human joints for specific applications but poorly fit into the study when more general conditions are required. In 2014 the Group of Robotics, Automation and articular Biomechanics (GRAB) of the University of Bologna built an in vitro test rig that overcame these limitations. Even though the machine is capable to work with high accuracy, some improvements can be done in order to reduce the test time and simplify certain operations. Therefore, recently GRAB started the design of a new in vitro test rig, which can be regarded as an evolution of the previous one. The test rig comprises a number of subsystems one of which is the loading system that represents the core of the machine. In particular, this work presents a new manipulator whose features make it suitable as loading system for the new test rig. The new manipulator is an overconstrained Gough-Stewart platform-based robot. This property is useful since it makes it possible to realize a six degrees-of-freedom manipulator with a smaller number of joints and a higher stiffness with respect to a standard Gough-Stewart manipulator of the same size. Moreover, the manipulator does not require spherical joints and thrust journal bearings, thus allowing a larger workspace and simplifying the physical realization of the manipulator. The geometrical characteristics of the manipulator are shown, and the kinematic analysis is presented. A solution for the position analysis is proposed and the Jacobin matrix is derived. Furthermore, a singularity and workspace numerical analyses are presented. The geometrical interpretation of the singularities is provided.

Abstract
Tipologia del documento
Tesi di dottorato
Autore
Luzi, Luca
Supervisore
Dottorato di ricerca
Ciclo
31
Coordinatore
Settore disciplinare
Settore concorsuale
Parole chiave
Gough-Stewart platform, overconstrained, manipulator
URN:NBN
Data di discussione
29 Marzo 2019
URI

Altri metadati

Gestione del documento: Visualizza la tesi

^