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dc.contributor.advisorPurwar, Anurag , Ge, Qiaodeen_US
dc.contributor.authorAnantwar, Sagar Sanjayen_US
dc.contributor.otherDepartment of Mechanical Engineeringen_US
dc.date.accessioned2013-05-22T17:34:04Z
dc.date.available2013-05-22T17:34:04Z
dc.date.issued1-Dec-11en_US
dc.date.submitted11-Decen_US
dc.identifierAnantwar_grad.sunysb_0771M_10797en_US
dc.identifier.urihttp://hdl.handle.net/1951/59565
dc.description102 pg.en_US
dc.description.abstractIn this thesis, a visual approach for the dimensional synthesis of planar parallel manipulators is discussed. The presented approach transforms the kinematic constraint problem to a geometric constraint manifold manipulation problem. For planar mechanisms, the kinematic constraint equations represent the limits for the motion of the links in the Cartesian space. The use of Quaternions is made in designing of this motion. The problem of motion of planar mechanisms is translated into a problem of designing of a smooth rational curve in the Quaternion space (Image space). An intuitive graphical design tool has been developed. The design tool facilitates the user for synthesis of planar parallel manipulators. The design problem has been transformed into a problem of manipulation of surfaces so as to contain the curve in the volume between the surfaces, yielding the desired mechanism.en_US
dc.description.sponsorshipStony Brook University Libraries. SBU Graduate School in Department of Mechanical Engineering. Charles Taber (Dean of Graduate School).en_US
dc.formatElectronic Resourceen_US
dc.language.isoen_USen_US
dc.publisherThe Graduate School, Stony Brook University: Stony Brook, NY.en_US
dc.subject.lcshMechanical engineeringen_US
dc.subject.otherconstraint manifold, parallel manipulator, visual synthesisen_US
dc.titleVisual Synthesis of Planar Parallel Manipulators using Constraint Manifold Geometryen_US
dc.typeThesisen_US
dc.description.advisorAdvisor(s): Purwar, Anurag ; Ge, Qiaode. Committee Member(s): Zhou, Yu.en_US
dc.mimetypeApplication/PDFen_US


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