subject:(Workspace Optimization)

Delft University of Technology

1. Broekzitter, Jelle (author). Workspace Extension in Shoulder Elevation/-Protraction Actuated, By-Wire Controlled Grasping and Squeezing in a Virtual Environment.

Degree: 2019, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:388baa4e-f424-4aa6-b779-1c8cb92a90e2

►

Many users of body-powered upper extremity prostheses experience difficulties using their device and a large group abandons usage altogether. Shoulder control via Bowden cable is… (more)

Subjects/Keywords: Upper limb prosthetics; Workspace Optimization; Grasping

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APA (6^th Edition):

Broekzitter, J. (. (2019). Workspace Extension in Shoulder Elevation/-Protraction Actuated, By-Wire Controlled Grasping and Squeezing in a Virtual Environment. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:388baa4e-f424-4aa6-b779-1c8cb92a90e2

Chicago Manual of Style (16^th Edition):

Broekzitter, Jelle (author). “Workspace Extension in Shoulder Elevation/-Protraction Actuated, By-Wire Controlled Grasping and Squeezing in a Virtual Environment.” 2019. Masters Thesis, Delft University of Technology. Accessed April 10, 2021. http://resolver.tudelft.nl/uuid:388baa4e-f424-4aa6-b779-1c8cb92a90e2.

MLA Handbook (7^th Edition):

Broekzitter, Jelle (author). “Workspace Extension in Shoulder Elevation/-Protraction Actuated, By-Wire Controlled Grasping and Squeezing in a Virtual Environment.” 2019. Web. 10 Apr 2021.

Vancouver:

Broekzitter J(. Workspace Extension in Shoulder Elevation/-Protraction Actuated, By-Wire Controlled Grasping and Squeezing in a Virtual Environment. [Internet] [Masters thesis]. Delft University of Technology; 2019. [cited 2021 Apr 10]. Available from: http://resolver.tudelft.nl/uuid:388baa4e-f424-4aa6-b779-1c8cb92a90e2.

Council of Science Editors:

Broekzitter J(. Workspace Extension in Shoulder Elevation/-Protraction Actuated, By-Wire Controlled Grasping and Squeezing in a Virtual Environment. [Masters Thesis]. Delft University of Technology; 2019. Available from: http://resolver.tudelft.nl/uuid:388baa4e-f424-4aa6-b779-1c8cb92a90e2

University of Notre Dame

2. Jeremy Thurston Newkirk. Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization</h1>.

Degree: Aerospace and Mechanical Engineering, 2007, University of Notre Dame

URL: https://curate.nd.edu/show/00000001s1r

► In this investigation a robotic system’s dynamic performance is optimized for high reliability under uncertainty. The dynamic capability equations (DCE) allow designers to predict… (more)

Subjects/Keywords: Characterization; Robotics; Workspace; Design Optimization

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APA (6^th Edition):

Newkirk, J. T. (2007). Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization</h1>. (Thesis). University of Notre Dame. Retrieved from https://curate.nd.edu/show/00000001s1r

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Newkirk, Jeremy Thurston. “Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization</h1>.” 2007. Thesis, University of Notre Dame. Accessed April 10, 2021. https://curate.nd.edu/show/00000001s1r.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Newkirk, Jeremy Thurston. “Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization</h1>.” 2007. Web. 10 Apr 2021.

Vancouver:

Newkirk JT. Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization</h1>. [Internet] [Thesis]. University of Notre Dame; 2007. [cited 2021 Apr 10]. Available from: https://curate.nd.edu/show/00000001s1r.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Newkirk JT. Dynamic Performance Analysis of a Robotic System Using Reliability-Based Design Optimization</h1>. [Thesis]. University of Notre Dame; 2007. Available from: https://curate.nd.edu/show/00000001s1r

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Western Ontario

3. Brecht, Derek K. A 3-DOF Stewart Platform for Trenchless Pipeline Rehabilitation.

Degree: 2015, University of Western Ontario

URL: https://ir.lib.uwo.ca/etd/3156

► A major component of the infrastructure of any modern city is a network of underground pipes that transport drinking water, storm water and sewage. Most… (more)

Subjects/Keywords: 3-DOF; Stewart Platform; Parameter Optimization; Workspace maximization; Pipeline spraying; Controlled Random Search; Particle Swarm Optimization; Electrical and Computer Engineering

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APA (6^th Edition):

Brecht, D. K. (2015). A 3-DOF Stewart Platform for Trenchless Pipeline Rehabilitation. (Thesis). University of Western Ontario. Retrieved from https://ir.lib.uwo.ca/etd/3156

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Brecht, Derek K. “A 3-DOF Stewart Platform for Trenchless Pipeline Rehabilitation.” 2015. Thesis, University of Western Ontario. Accessed April 10, 2021. https://ir.lib.uwo.ca/etd/3156.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Brecht, Derek K. “A 3-DOF Stewart Platform for Trenchless Pipeline Rehabilitation.” 2015. Web. 10 Apr 2021.

Vancouver:

Brecht DK. A 3-DOF Stewart Platform for Trenchless Pipeline Rehabilitation. [Internet] [Thesis]. University of Western Ontario; 2015. [cited 2021 Apr 10]. Available from: https://ir.lib.uwo.ca/etd/3156.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Brecht DK. A 3-DOF Stewart Platform for Trenchless Pipeline Rehabilitation. [Thesis]. University of Western Ontario; 2015. Available from: https://ir.lib.uwo.ca/etd/3156

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Pretoria

4. [No author]. Methods for the determination of accessible workspaces of planar Stewart platforms of general design .

Degree: 2006, University of Pretoria

URL: http://upetd.up.ac.za/thesis/available/etd-12202006-154821/

► In recent years Stewart platforms have been increasingly studied and developed. These parallel manipulators offer a number of advantages over traditional serial manipulators including high… (more)

▼ In recent years Stewart platforms have been increasingly studied and developed. These parallel manipulators offer a number of advantages over traditional serial manipulators including high rigidity, good positioning accuracy and high load to weight ratio. The main disadvantage associated with parallel manipulators is that they have relatively limited workspaces. Numerous researchers have thus emphasized the need to develop refined methods for the determination of workspaces of such manipulators. This study is primarily concerned with extensions to a novel optimization approach for the determination of manipulator accessible output sets. The optimization approach provides a general method for the determination of workspaces of both serial and parallel manipulators and has the considerable advantage that it may easily be automated. Furthermore, the approach allows for the easy and systematic implementation of various physical constraints acting on manipulators. Established methods for workspace determination are reviewed and illustrated by application to a simple two degree of freedom example. The original optimization approach is extended and generalize< to enable the determination of non-convex workspaces. Simply stated, the approach consists of finding the points of intersection of the workspace boundary with a number of successive search elements. The points of intersection are determined by means of optimization techniques in which a dynamic constrained optimization algorithm is used. Two new methodologies, the modified ray method and the chord method, are proposed. Differences between these methods are illustrated using a simple example. The optimization approach, embodied in the proposed methodologies, is applied to the determination of workspaces of planar Stewart platforms of varied designs. A formulation for all constraints acting on planar Stewart platforms is introduced and implemented in the optimization approach. A special case of manipulator geometry, where the orientation of the platform is effectively redundant in determining the extreme reach of the manipulat'1r, is identified and studied. A slight modification to the optimization methodologies is introduced to allow for the determination of workspaces of such redundant manipulators. The modified ray and chord methods proposed in this study have proven capable of determining convex and non-convex manipulator workspaces. Of the two new methods, the chord approach is the most reliable in determining non-convex workspaces. Both optimization methodologies have been implemented in practical interactive computer systems, which allow for the easy determination of workspaces of planar Stewart pla1 forms of arbitrary geometry. Advisors/Committee Members: Prof J A Snyman (advisor).

Subjects/Keywords: Mechanical engineering; Optimization workspace determination; Automatic control engineering; UCTD

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

author], [. (2006). Methods for the determination of accessible workspaces of planar Stewart platforms of general design . (Masters Thesis). University of Pretoria. Retrieved from http://upetd.up.ac.za/thesis/available/etd-12202006-154821/

Chicago Manual of Style (16^th Edition):

author], [No. “Methods for the determination of accessible workspaces of planar Stewart platforms of general design .” 2006. Masters Thesis, University of Pretoria. Accessed April 10, 2021. http://upetd.up.ac.za/thesis/available/etd-12202006-154821/.

MLA Handbook (7^th Edition):

author], [No. “Methods for the determination of accessible workspaces of planar Stewart platforms of general design .” 2006. Web. 10 Apr 2021.

Vancouver:

author] [. Methods for the determination of accessible workspaces of planar Stewart platforms of general design . [Internet] [Masters thesis]. University of Pretoria; 2006. [cited 2021 Apr 10]. Available from: http://upetd.up.ac.za/thesis/available/etd-12202006-154821/.

Council of Science Editors:

author] [. Methods for the determination of accessible workspaces of planar Stewart platforms of general design . [Masters Thesis]. University of Pretoria; 2006. Available from: http://upetd.up.ac.za/thesis/available/etd-12202006-154821/

University of Pretoria

5. Hay, Alexander Morrison. Methods for the determination of accessible workspaces of planar Stewart platforms of general design.

Degree: Mechanical and Aeronautical Engineering, 2006, University of Pretoria

URL: http://hdl.handle.net/2263/30453

► In recent years Stewart platforms have been increasingly studied and developed. These parallel manipulators offer a number of advantages over traditional serial manipulators including high… (more)

▼ In recent years Stewart platforms have been increasingly studied and developed. These parallel manipulators offer a number of advantages over traditional serial manipulators including high rigidity, good positioning accuracy and high load to weight ratio. The main disadvantage associated with parallel manipulators is that they have relatively limited workspaces. Numerous researchers have thus emphasized the need to develop refined methods for the determination of workspaces of such manipulators. This study is primarily concerned with extensions to a novel optimization approach for the determination of manipulator accessible output sets. The optimization approach provides a general method for the determination of workspaces of both serial and parallel manipulators and has the considerable advantage that it may easily be automated. Furthermore, the approach allows for the easy and systematic implementation of various physical constraints acting on manipulators. Established methods for workspace determination are reviewed and illustrated by application to a simple two degree of freedom example. The original optimization approach is extended and generalize< to enable the determination of non-convex workspaces. Simply stated, the approach consists of finding the points of intersection of the workspace boundary with a number of successive search elements. The points of intersection are determined by means of optimization techniques in which a dynamic constrained optimization algorithm is used. Two new methodologies, the modified ray method and the chord method, are proposed. Differences between these methods are illustrated using a simple example. The optimization approach, embodied in the proposed methodologies, is applied to the determination of workspaces of planar Stewart platforms of varied designs. A formulation for all constraints acting on planar Stewart platforms is introduced and implemented in the optimization approach. A special case of manipulator geometry, where the orientation of the platform is effectively redundant in determining the extreme reach of the manipulat'1r, is identified and studied. A slight modification to the optimization methodologies is introduced to allow for the determination of workspaces of such redundant manipulators. The modified ray and chord methods proposed in this study have proven capable of determining convex and non-convex manipulator workspaces. Of the two new methods, the chord approach is the most reliable in determining non-convex workspaces. Both optimization methodologies have been implemented in practical interactive computer systems, which allow for the easy determination of workspaces of planar Stewart pla1 forms of arbitrary geometry. Advisors/Committee Members: Prof J A Snyman (advisor).

Subjects/Keywords: Mechanical engineering; Optimization workspace determination; Automatic control engineering; UCTD

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Hay, A. (2006). Methods for the determination of accessible workspaces of planar Stewart platforms of general design. (Masters Thesis). University of Pretoria. Retrieved from http://hdl.handle.net/2263/30453

Chicago Manual of Style (16^th Edition):

Hay, Alexander. “Methods for the determination of accessible workspaces of planar Stewart platforms of general design.” 2006. Masters Thesis, University of Pretoria. Accessed April 10, 2021. http://hdl.handle.net/2263/30453.

MLA Handbook (7^th Edition):

Hay, Alexander. “Methods for the determination of accessible workspaces of planar Stewart platforms of general design.” 2006. Web. 10 Apr 2021.

Vancouver:

Hay A. Methods for the determination of accessible workspaces of planar Stewart platforms of general design. [Internet] [Masters thesis]. University of Pretoria; 2006. [cited 2021 Apr 10]. Available from: http://hdl.handle.net/2263/30453.

Council of Science Editors:

Hay A. Methods for the determination of accessible workspaces of planar Stewart platforms of general design. [Masters Thesis]. University of Pretoria; 2006. Available from: http://hdl.handle.net/2263/30453

6. Torres Mendez, Sergio Javier. Low Mobility Cable Robot with Application to Robotic Warehousing.

Degree: 2014, University of Waterloo

URL: http://hdl.handle.net/10012/8904

► Cable-based robots consist of a rigid mobile platform connected via flexible links (cables, wires, tendons) to a surrounding static platform. The use of cables simplifies… (more)

▼ Cable-based robots consist of a rigid mobile platform connected via flexible links (cables, wires, tendons) to a surrounding static platform. The use of cables simplifies the mechanical structure and reduces the inertia, allowing the mobile platform to reach high motion acceleration in large workspaces. These attributes give, in principle, an advantage over conventional robots used for industrial applications, such as the pick and place of objects inside factories or similar exterior large workspaces. However, unique cable properties involve new theoretical and technical challenges: all cables must be in tension to avoid collapse of the mobile platform. In addition, positive tensions applied to cables may affect the overall stiffness, that is, cable stretch might result in unacceptable oscillations of the mobile platform. Fully constrained cable-based robots can be distinguished from other types of cable-based robots because the motion and force generation of the mobile platform is accomplished by controlling both the cable lengths and the positive cable tensions. Fully constrained cable-based robots depend on actuator redundancy, that is, the addition of one or more actuated cables than end-effector degrees of freedom. Redundancy has proved to be beneficial to expand the workspace, remove some types of singularities, increase the overall stiffness, and support high payloads in several proposed cable-based robot designs. Nevertheless, this strategy demands the development of efficient controller designs for real-time applications. This research deals with the design and control of a fully constrained cable-based parallel manipulator for large-scale high-speed warehousing applications. To accomplish the design of the robot, a well-ordered procedure to analyze the cable tensions, stiffness and workspace will be presented to obtain an optimum structure. Then, the control problem will be investigated to deal with the redundancy solution and all-positive cable tension condition. The proposed control method will be evaluated through simulation and experimentation in a prototype manufactured for testing.

Subjects/Keywords: Cable-based Robots; Design; Workspace; Stiffness; Optimization

…solution, cable tension balance, stiffness and workspace formulations. 2) Optimization and… …31 Figure 3.3: Variations of the workspace and natural frequency as a function of… …51 Figure 3.15: Delineation of workspace Γs1 by δ0 > 0, δ6 > 0 and δ2 > 0, and… …workspace Γs2 by ε0 < 0, ε1 ≤ 0, and ε5 < 0… …robot. ........... 61 Figure 3.21: Variation of the workspace size of the unconstrained…

10 more images…

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APA (6^th Edition):

Torres Mendez, S. J. (2014). Low Mobility Cable Robot with Application to Robotic Warehousing. (Thesis). University of Waterloo. Retrieved from http://hdl.handle.net/10012/8904

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Torres Mendez, Sergio Javier. “Low Mobility Cable Robot with Application to Robotic Warehousing.” 2014. Thesis, University of Waterloo. Accessed April 10, 2021. http://hdl.handle.net/10012/8904.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Torres Mendez, Sergio Javier. “Low Mobility Cable Robot with Application to Robotic Warehousing.” 2014. Web. 10 Apr 2021.

Vancouver:

Torres Mendez SJ. Low Mobility Cable Robot with Application to Robotic Warehousing. [Internet] [Thesis]. University of Waterloo; 2014. [cited 2021 Apr 10]. Available from: http://hdl.handle.net/10012/8904.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Torres Mendez SJ. Low Mobility Cable Robot with Application to Robotic Warehousing. [Thesis]. University of Waterloo; 2014. Available from: http://hdl.handle.net/10012/8904

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Delft University of Technology

7. Chawla, Hemang (author). Robot Placement for Mobile Manipulation in Domestic Environments.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:e095b2be-c497-4de4-a55b-25126e960dbe

►

The development of domestic mobile manipulators for unconstrained environments has driven significant research recently. Robot Care Systems has been pioneering in developing a prototype of… (more)

▼

The development of domestic mobile manipulators for unconstrained environments has driven significant research recently. Robot Care Systems has been pioneering in developing a prototype of a mobile manipulator for elderly care. It has a 6 degrees of freedom robotic arm mounted on their flagship robot LEA, a non-holonomic differential drive platform. In order to utilize the navigation and manipulation capabilities of such mobile manipulators, robot placement algorithm that computes a favorable position and orientation of the mobile base is sought, which enables the end effector to reach a desired target. None of the existing approaches perform robot placement while ensuring a high chance of successful planning to target through a short path, while accounting for sensing and actuation errors typical in real world scenarios. This thesis presents a novel robot placement algorithm DeCOWA (Determining Commutation configuration using Optimization and Workspace Analysis) with these characteristics. Since the approach to robot placement is dependent upon the kind of mobile manipulation, a comparative study of sequential and full body methods is performed with respect to criteria important in domestic settings. Sequential mobile manipulation is found to be most suitable, for which a modular mobile manipulation framework encompassing motion planning and robot placement is presented. With sequential mobile manipulation, the ability to successfully reach a target depends upon the kinematic capabilities of the arm. Accordingly, robot placement with DeCOWA determines a favorable location for the arm, and corresponding platform orientation. To find the position of arm’s base, an offline manipulator workspace analysis is performed generating the Inverse Reachability and Planability maps. During online use, these maps are combined into an Inverse Fusion Map that ranks different locations based on the ability of the arm placed there to find a successful and short motion plan to target. This map is filtered to generate a set of feasible locations at the arm’s height. Through a ranked iterative search, a suitable collision free arm location is determined followed by minimization of the platform distance from robot’s current pose. This approach is evaluated against an unbiased random placement of robot near the target using a sample set of twenty scenes mimicking domestic settings. It is found that DeCOWA is able to generate commutation configurations in fraction of a second, that lead to a high planning success rate, a short path length, and account for goal tolerance of navigation. Also, its modularity allows to use several planability metrics, making it useful for domestic application.

Mechanical Engineering | Biomechanical Design - BioRobotics

Advisors/Committee Members: Wisse, M. (mentor), Kober, J. (graduation committee), Gaisser, F. (graduation committee), Delft University of Technology (degree granting institution).

Subjects/Keywords: Mobile Manipulation; Robot; Robot Placement; Vision; Domestic Environments; Commutation Configuration; Robotics; Base Placement; Reachability; Workspace Analysis; Optimization; Planability; Algorithm

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Chawla, H. (. (2017). Robot Placement for Mobile Manipulation in Domestic Environments. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:e095b2be-c497-4de4-a55b-25126e960dbe

Chicago Manual of Style (16^th Edition):

Chawla, Hemang (author). “Robot Placement for Mobile Manipulation in Domestic Environments.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021. http://resolver.tudelft.nl/uuid:e095b2be-c497-4de4-a55b-25126e960dbe.

MLA Handbook (7^th Edition):

Chawla, Hemang (author). “Robot Placement for Mobile Manipulation in Domestic Environments.” 2017. Web. 10 Apr 2021.

Vancouver:

Chawla H(. Robot Placement for Mobile Manipulation in Domestic Environments. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10]. Available from: http://resolver.tudelft.nl/uuid:e095b2be-c497-4de4-a55b-25126e960dbe.

Council of Science Editors:

Chawla H(. Robot Placement for Mobile Manipulation in Domestic Environments. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:e095b2be-c497-4de4-a55b-25126e960dbe

University of Pretoria

8. [No author]. Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces.

Degree: 2006, University of Pretoria

URL: http://upetd.up.ac.za/thesis/available/etd-05042005-162107/

Please read the abstract in the section 00front of this document Advisors/Committee Members: Prof J A Snyman (advisor).

Subjects/Keywords: Parallel manipulator; Optimal design; Workspace analysis; Mechanism synthesis; Optimization algorithm; UCTD

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

author], [. (2006). Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. (Doctoral Dissertation). University of Pretoria. Retrieved from http://upetd.up.ac.za/thesis/available/etd-05042005-162107/

Chicago Manual of Style (16^th Edition):

author], [No. “Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. ” 2006. Doctoral Dissertation, University of Pretoria. Accessed April 10, 2021. http://upetd.up.ac.za/thesis/available/etd-05042005-162107/.

MLA Handbook (7^th Edition):

author], [No. “Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. ” 2006. Web. 10 Apr 2021.

Vancouver:

author] [. Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. [Internet] [Doctoral dissertation]. University of Pretoria; 2006. [cited 2021 Apr 10]. Available from: http://upetd.up.ac.za/thesis/available/etd-05042005-162107/.

Council of Science Editors:

author] [. Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. [Doctoral Dissertation]. University of Pretoria; 2006. Available from: http://upetd.up.ac.za/thesis/available/etd-05042005-162107/

University of Pretoria

9. Hay, Alexander Morrison. Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces.

Degree: Mechanical and Aeronautical Engineering, 2006, University of Pretoria

URL: http://hdl.handle.net/2263/24313

Please read the abstract in the section 00front of this document Advisors/Committee Members: Prof J A Snyman (advisor).

Subjects/Keywords: Parallel manipulator; Optimal design; Workspace analysis; Mechanism synthesis; Optimization algorithm; UCTD

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Hay, A. (2006). Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. (Doctoral Dissertation). University of Pretoria. Retrieved from http://hdl.handle.net/2263/24313

Chicago Manual of Style (16^th Edition):

Hay, Alexander. “Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces.” 2006. Doctoral Dissertation, University of Pretoria. Accessed April 10, 2021. http://hdl.handle.net/2263/24313.

MLA Handbook (7^th Edition):

Hay, Alexander. “Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces.” 2006. Web. 10 Apr 2021.

Vancouver:

Hay A. Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. [Internet] [Doctoral dissertation]. University of Pretoria; 2006. [cited 2021 Apr 10]. Available from: http://hdl.handle.net/2263/24313.

Council of Science Editors:

Hay A. Optimal dimensional synthesis of planar parallel manipulators with respect to workspaces. [Doctoral Dissertation]. University of Pretoria; 2006. Available from: http://hdl.handle.net/2263/24313

Delft University of Technology

10. Baldew, Vishan (author). Workspace Optimization in Smart Buildings: Design of an Interoperable IoT Architecture.

Degree: 2017, Delft University of Technology

URL: http://resolver.tudelft.nl/uuid:0b583b48-0e19-4d38-a1ff-73c2c7f4e316

Subjects/Keywords: IoT-A; Data Management; Workspace Optimization; Internet of Things; ICT Architecture

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Baldew, V. (. (2017). Workspace Optimization in Smart Buildings: Design of an Interoperable IoT Architecture. (Masters Thesis). Delft University of Technology. Retrieved from http://resolver.tudelft.nl/uuid:0b583b48-0e19-4d38-a1ff-73c2c7f4e316

Chicago Manual of Style (16^th Edition):

Baldew, Vishan (author). “Workspace Optimization in Smart Buildings: Design of an Interoperable IoT Architecture.” 2017. Masters Thesis, Delft University of Technology. Accessed April 10, 2021. http://resolver.tudelft.nl/uuid:0b583b48-0e19-4d38-a1ff-73c2c7f4e316.

MLA Handbook (7^th Edition):

Baldew, Vishan (author). “Workspace Optimization in Smart Buildings: Design of an Interoperable IoT Architecture.” 2017. Web. 10 Apr 2021.

Vancouver:

Baldew V(. Workspace Optimization in Smart Buildings: Design of an Interoperable IoT Architecture. [Internet] [Masters thesis]. Delft University of Technology; 2017. [cited 2021 Apr 10]. Available from: http://resolver.tudelft.nl/uuid:0b583b48-0e19-4d38-a1ff-73c2c7f4e316.

Council of Science Editors:

Baldew V(. Workspace Optimization in Smart Buildings: Design of an Interoperable IoT Architecture. [Masters Thesis]. Delft University of Technology; 2017. Available from: http://resolver.tudelft.nl/uuid:0b583b48-0e19-4d38-a1ff-73c2c7f4e316

11. VINCENSIUS BILLY SAPUTRA. Development of Two Cooperative Stewart Platforms for Machining.

Degree: 2012, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/47370

Subjects/Keywords: Stewart Plaforms; Calibration; Parallel Manipulator; 5-axis machining; path planning; workspace optimization

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

SAPUTRA, V. B. (2012). Development of Two Cooperative Stewart Platforms for Machining. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/47370

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

SAPUTRA, VINCENSIUS BILLY. “Development of Two Cooperative Stewart Platforms for Machining.” 2012. Thesis, National University of Singapore. Accessed April 10, 2021. http://scholarbank.nus.edu.sg/handle/10635/47370.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

SAPUTRA, VINCENSIUS BILLY. “Development of Two Cooperative Stewart Platforms for Machining.” 2012. Web. 10 Apr 2021.

Vancouver:

SAPUTRA VB. Development of Two Cooperative Stewart Platforms for Machining. [Internet] [Thesis]. National University of Singapore; 2012. [cited 2021 Apr 10]. Available from: http://scholarbank.nus.edu.sg/handle/10635/47370.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

SAPUTRA VB. Development of Two Cooperative Stewart Platforms for Machining. [Thesis]. National University of Singapore; 2012. Available from: http://scholarbank.nus.edu.sg/handle/10635/47370

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

12. YAN SHIJUN. A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES.

Degree: 2015, National University of Singapore

URL: http://scholarbank.nus.edu.sg/handle/10635/121103

Subjects/Keywords: hybrid robot; parallel manipulator; workspace analysis; stiffness analysis; optimization design; robot registration

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

SHIJUN, Y. (2015). A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES. (Thesis). National University of Singapore. Retrieved from http://scholarbank.nus.edu.sg/handle/10635/121103

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

SHIJUN, YAN. “A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES.” 2015. Thesis, National University of Singapore. Accessed April 10, 2021. http://scholarbank.nus.edu.sg/handle/10635/121103.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

SHIJUN, YAN. “A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES.” 2015. Web. 10 Apr 2021.

Vancouver:

SHIJUN Y. A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES. [Internet] [Thesis]. National University of Singapore; 2015. [cited 2021 Apr 10]. Available from: http://scholarbank.nus.edu.sg/handle/10635/121103.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

SHIJUN Y. A SERIAL-PARALLEL HYBRID ROBOT FOR MACHINING OF COMPLEX SURFACES. [Thesis]. National University of Singapore; 2015. Available from: http://scholarbank.nus.edu.sg/handle/10635/121103

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Cincinnati

13. RAVINDRAN, ASHWIN. AN OCTREE BASED GENETIC ALGORITHM FOR THREE-DIMENSIONAL PACKING OF IRREGULAR PARTS.

Degree: MS, Engineering : Industrial Engineering, 2003, University of Cincinnati

URL: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1046981543

► The problem of finding an optimal configuration or arrangement of arbitrarily shaped objects within a bounded volume that yields the best utilization of space with… (more)

Subjects/Keywords: Engineering, Industrial; three dimensional packing; octree; genetic algorithms; workspace optimization; object intersections

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APA (6^th Edition):

RAVINDRAN, A. (2003). AN OCTREE BASED GENETIC ALGORITHM FOR THREE-DIMENSIONAL PACKING OF IRREGULAR PARTS. (Masters Thesis). University of Cincinnati. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=ucin1046981543

Chicago Manual of Style (16^th Edition):

RAVINDRAN, ASHWIN. “AN OCTREE BASED GENETIC ALGORITHM FOR THREE-DIMENSIONAL PACKING OF IRREGULAR PARTS.” 2003. Masters Thesis, University of Cincinnati. Accessed April 10, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1046981543.

MLA Handbook (7^th Edition):

RAVINDRAN, ASHWIN. “AN OCTREE BASED GENETIC ALGORITHM FOR THREE-DIMENSIONAL PACKING OF IRREGULAR PARTS.” 2003. Web. 10 Apr 2021.

Vancouver:

RAVINDRAN A. AN OCTREE BASED GENETIC ALGORITHM FOR THREE-DIMENSIONAL PACKING OF IRREGULAR PARTS. [Internet] [Masters thesis]. University of Cincinnati; 2003. [cited 2021 Apr 10]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1046981543.

Council of Science Editors:

RAVINDRAN A. AN OCTREE BASED GENETIC ALGORITHM FOR THREE-DIMENSIONAL PACKING OF IRREGULAR PARTS. [Masters Thesis]. University of Cincinnati; 2003. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=ucin1046981543

The Ohio State University

14. Shi, Hongliang. Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners.

Degree: PhD, Mechanical Engineering, 2013, The Ohio State University

URL: http://rave.ohiolink.edu/etdc/view?acc_num=osu1385484917

► The research goal of this thesis is to develop new models and computational tools for the design and optimization of compliant mechanisms with the applications… (more)

Subjects/Keywords: Mechanical Engineering; nanopositioners, mechanical design, structural analysis, kinematics and dynamics, control and actuation, calibration, optimization, stiffness analysis, workspace, MEMS, flexure, compliant mechanism, robotics

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Shi, H. (2013). Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners. (Doctoral Dissertation). The Ohio State University. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=osu1385484917

Chicago Manual of Style (16^th Edition):

Shi, Hongliang. “Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners.” 2013. Doctoral Dissertation, The Ohio State University. Accessed April 10, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=osu1385484917.

MLA Handbook (7^th Edition):

Shi, Hongliang. “Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners.” 2013. Web. 10 Apr 2021.

Vancouver:

Shi H. Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners. [Internet] [Doctoral dissertation]. The Ohio State University; 2013. [cited 2021 Apr 10]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1385484917.

Council of Science Editors:

Shi H. Modeling and Analysis of Compliant Mechanisms for Designing Nanopositioners. [Doctoral Dissertation]. The Ohio State University; 2013. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=osu1385484917

15. Kalawoun, Rawan. Motion planning of multi-robot system for airplane stripping : Plannification des trajectoires s’un système multi-robot pour faire le décapage des avions.

Degree: Docteur es, Electronique et Systèmes, 2019, Université Clermont Auvergne‎ (2017-2020)

URL: http://www.theses.fr/2019CLFAC008

►

Cette thèse est une partie d’un projet français qui s’appelle AEROSTRIP, un partenariat entre l’Institut Pascal, Sigma, SAPPI et Air-France industries, il est financé par… (more)

▼

Cette thèse est une partie d’un projet français qui s’appelle AEROSTRIP, un partenariat entre l’Institut Pascal, Sigma, SAPPI et Air-France industries, il est financé par le gouvernement français par le programme FUI (20 eme appel). Le projet AEROSTRIP consiste à développer le premier système automatique qui nettoie écologiquement les surfaces des avions et les pièces de rechange en utilisant un abrasif écologique projeté à grande vitesse sur la surface des avions (maïs). Ma thèse consiste à optimiser les trajectoires du système robotique total de telle façon que le décapage de l’avion soit optimal. Le déplacement des robots est nécessaire pour assurer une couverture totale de la surface à décaper parce que ces surfaces sont trop grandes et elles ne peuvent pas être décapées d’une seule position. Le but de mon travail est de trouver le nombre optimal de robots avec leur positions optimales pour décaper totalement l’avion. Une fois ce nombre est déterminé, on cherche les trajectoires des robots entre ces différentes positions. Alors, pour atteindre ce but, j’ai défini un cadre général composant de quatre étapes essentiels: l’étape pre-processing, l’étape optimization algorithm, l’étape generation of the end-effector trajectories et l’étape robot scheduling, assignment and control.Dans ma thèse, j’ai deux contributions dans deux différentes étapes du cadre général: l’étape pre-processing et l’étape optimization algorithm. Le calcul de l’espace de travail du robot est nécessairedans l’étape pre-processing: on a proposé l’Analyse par Intervalles pour trouver cet espace de travail parce qu’il garantie le fait de trouver des solutions dans un temps de calcul raisonnable. Alors, ma première contribution est une nouvelle fonction d’inclusion qui réduit le pessimisme, la surestimation des solutions qui est le principal inconvénient de l’Analyse par Intervalles. La nouvelle fonction d’inclusion est évaluée sur des problèmes de satisfaction de contraintes et des problèmes d’optimisation des contraintes. En plus, on a proposé un algorithme d’optimisation hybride pour trouver le nombre optimal de robots avec leur positions optimales: c’est notre deuxième contribution qui est dans l’étape optimization algorithm. Pour évaluer l’algorithme d’optimisation, on a testé cet algorithme sur des surfaces régulières, comme un cylindre et un hémisphère, et sur un surface complexe: une voiture.

This PHD is a part of a French project named AEROSTRIP, (a partnership between Pascal Institute,Sigma, SAPPI, and Air-France industries), it is funded by the French Government through the FUIProgram (20th call). The AEROSTRIP project aims at developing the first automated system thatecologically cleans the airplanes surfaces using a process of soft projection of ecological media onthe surface (corn). My PHD aims at optimizing the trajectory of the whole robotic systems in orderto optimally strip the airplane. Since a large surface can not be totally covered by a single robot base placement, repositioning of the robots is necessary to ensure a…

Advisors/Committee Members: Mezouar, Youcef (thesis director).

Subjects/Keywords: Optimisation; Simulated Annealing; Greedy; Genetic Algorithm; Analyse par Intervalle; Espace du travail des robots; Pessimisme; BSplines; Produit des Kronecker; Qt creator; Programmation orientée objet; C++; Optimization; Simulated Annealing; Greedy; Genetic Algorithm; Interval Analysis; Workspace; Pessimism; BSplines; Kronecker Product; Qt creator; Object-Oriented Programming; C++

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Kalawoun, R. (2019). Motion planning of multi-robot system for airplane stripping : Plannification des trajectoires s’un système multi-robot pour faire le décapage des avions. (Doctoral Dissertation). Université Clermont Auvergne‎ (2017-2020). Retrieved from http://www.theses.fr/2019CLFAC008

Chicago Manual of Style (16^th Edition):

Kalawoun, Rawan. “Motion planning of multi-robot system for airplane stripping : Plannification des trajectoires s’un système multi-robot pour faire le décapage des avions.” 2019. Doctoral Dissertation, Université Clermont Auvergne‎ (2017-2020). Accessed April 10, 2021. http://www.theses.fr/2019CLFAC008.

MLA Handbook (7^th Edition):

Kalawoun, Rawan. “Motion planning of multi-robot system for airplane stripping : Plannification des trajectoires s’un système multi-robot pour faire le décapage des avions.” 2019. Web. 10 Apr 2021.

Vancouver:

Kalawoun R. Motion planning of multi-robot system for airplane stripping : Plannification des trajectoires s’un système multi-robot pour faire le décapage des avions. [Internet] [Doctoral dissertation]. Université Clermont Auvergne‎ (2017-2020); 2019. [cited 2021 Apr 10]. Available from: http://www.theses.fr/2019CLFAC008.

Council of Science Editors:

Kalawoun R. Motion planning of multi-robot system for airplane stripping : Plannification des trajectoires s’un système multi-robot pour faire le décapage des avions. [Doctoral Dissertation]. Université Clermont Auvergne‎ (2017-2020); 2019. Available from: http://www.theses.fr/2019CLFAC008

Georgia Tech

16. Voglewede, Philip Anthony. Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation.

Degree: PhD, Mechanical Engineering, 2004, Georgia Tech

URL: http://hdl.handle.net/1853/5202

► At a platform singularity, a parallel manipulator loses constraint. Adding redundant actuation in an existing leg or new leg can eliminate these types of singularities.… (more)

Subjects/Keywords: Parallel robots; Actuation redundancy; Workspace generation; Optimization; Singularities; Singularity; Robots, Industrial Design and construction; Parallel robots Design and construction; Manipulators (Mechanism); Actuators

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Voglewede, P. A. (2004). Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation. (Doctoral Dissertation). Georgia Tech. Retrieved from http://hdl.handle.net/1853/5202

Chicago Manual of Style (16^th Edition):

Voglewede, Philip Anthony. “Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation.” 2004. Doctoral Dissertation, Georgia Tech. Accessed April 10, 2021. http://hdl.handle.net/1853/5202.

MLA Handbook (7^th Edition):

Voglewede, Philip Anthony. “Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation.” 2004. Web. 10 Apr 2021.

Vancouver:

Voglewede PA. Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation. [Internet] [Doctoral dissertation]. Georgia Tech; 2004. [cited 2021 Apr 10]. Available from: http://hdl.handle.net/1853/5202.

Council of Science Editors:

Voglewede PA. Measuring Closeness to Singularities of Parallel Manipulators with Application to the Design of Redundant Actuation. [Doctoral Dissertation]. Georgia Tech; 2004. Available from: http://hdl.handle.net/1853/5202

17. Sarfraz, Hassan. Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments .

Degree: 2014, University of Ottawa

URL: http://hdl.handle.net/10393/30486

► The objective of this thesis is to analyze the kinematics of a mobile parallel robot with contribution that pertain to the singularity analysis, the optimization… (more)

Subjects/Keywords: Robot; Inpipe; inspection; snake-like; kinematics; control; optimal; mobile; parallel robot; singularity; workspace; dimensional synthesis; optimization; design optimization; parametric variation; kinematic conditioning index; KCI; elbow pipe; collision avoidance; singularity avoidance; wheeled robot; trajectory; jacobian; path following; path-following

…design optimization criteria are discussed in this section. One is based on the workspace, and… …system. 2.5.1 Workspace Optimization Workspace optimization is also known as workspace… …optimization of a mobile welding robot which requires workspace speciﬁc orientations for welding. The… …its workspace volume. A multi-objective optimization method for workspace known as the… …pipe inspection Two-link planar arm workspace region . . . . . . . . . . . . . . Convex shape…

10 more images…

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APA (6^th Edition):

Sarfraz, H. (2014). Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments . (Thesis). University of Ottawa. Retrieved from http://hdl.handle.net/10393/30486

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sarfraz, Hassan. “Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments .” 2014. Thesis, University of Ottawa. Accessed April 10, 2021. http://hdl.handle.net/10393/30486.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sarfraz, Hassan. “Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments .” 2014. Web. 10 Apr 2021.

Vancouver:

Sarfraz H. Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments . [Internet] [Thesis]. University of Ottawa; 2014. [cited 2021 Apr 10]. Available from: http://hdl.handle.net/10393/30486.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sarfraz H. Kinematics and Optimal Control of a Mobile Parallel Robot for Inspection of Pipe-like Environments . [Thesis]. University of Ottawa; 2014. Available from: http://hdl.handle.net/10393/30486

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

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Open Access Theses and Dissertations