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Kinematic Analysis Of A Quadruped Robot Capable Of Working As A Machining Tool

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Kinematic Analysis Of A Quadruped Robot Capable Of Working As A Machining Tool

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dc.contributor.author Mandayam Anand, Raghu en_US
dc.date.accessioned 2010-11-01T21:29:01Z
dc.date.available 2010-11-01T21:29:01Z
dc.date.issued 2010-11-01
dc.date.submitted January 2010 en_US
dc.identifier.other DISS-10782 en_US
dc.identifier.uri http://hdl.handle.net/10106/5157
dc.description.abstract Parallel robots have been proposed for some time now due to their potential advantages over serial robots in high load bearing, acceleration, stiffness and with lower moving mass. Mobile parallel configurations, i.e. multi-legged walking vehicles have been and are the focus of a great deal of current research. This thesis attempts to provide insights into the kinematic analysis of a quadruped robot capable of both walking and more importantly functioning as a machining tool. The gait analysis of quadruped robots has been extensively investigated and is not the focus of this research; however the gait ability is considered in the presented analysis. Initially, the kinematic analysis of a three degree-of-freedom constrained parallel robot undergoing planar motion is addressed. The solution to the inverse kinematic problem is developed and verified through simulation. The kinematic analysis of a planar robot furnishes the basic understanding of constrained cooperative manipulators and provides the foundation to extend the analysis to 3D space. The kinematics of a quadruped robot consisting of a fixed base and moving platform manipulated by four serial chain legs, with six degrees-of-freedom per leg, undergoing motion in 3D space is then developed. Although a completely general robot with six degree-of-freedom does not have a closed form solution, Pieper's method is applied to solve the inverse kinematic problem. Three different configurations of the legs are analyzed and active and passive degrees of freedom are identified and verified through simulation. Finally, the solution to inverse kinematics to maintain desired position and orientation of the moving platform even when the quadruped legs are positioned on uneven terrain is presented and verified. The results of this thesis provide the foundations for investigating walking machining centers. en_US
dc.description.sponsorship Shiakolas, Panayiotis en_US
dc.language.iso en en_US
dc.publisher Mechanical Engineering en_US
dc.title Kinematic Analysis Of A Quadruped Robot Capable Of Working As A Machining Tool en_US
dc.type M.S. en_US
dc.contributor.committeeChair Shiakolas, Panayiotis en_US
dc.degree.department Mechanical Engineering en_US
dc.degree.discipline Mechanical Engineering en_US
dc.degree.grantor University of Texas at Arlington en_US
dc.degree.level masters en_US
dc.degree.name M.S. en_US

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