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dc.contributor.advisorPurwar, Dr.Anuragen_US
dc.contributor.authorThakkar, Kartiken_US
dc.contributor.otherDepartment of Mechanical Engineeringen_US
dc.date.accessioned2013-05-22T17:35:42Z
dc.date.available2013-05-22T17:35:42Z
dc.date.issued1-Dec-12en_US
dc.date.submitted12-Decen_US
dc.identifierThakkar_grad.sunysb_0771M_11196en_US
dc.identifier.urihttp://hdl.handle.net/1951/59887
dc.description120 pg.en_US
dc.description.abstractDimensional Synthesis is of crucial importance in robotics for trajectory planning, task specication in Mechanism Synthesis,CNC tool path planning as well as in micro and nano systems, where kinematics plays an important role. This thesis presents an interactive software for the dimensional synthesis of planar parallel manipulators (PPMs) and spherical four bar motion approximation from a given set of displacements. For PPMs, a user friendly and interactive graphical software has been developed for the synthesis using C++,OpenGL and Qt. The software is designed and implemented using an Object Oriented Programming (OOP) architecture. This architecture naturally maps mathematical formulation of the constraints of PPMs to the OOP paradigm and enables extending the software to handle other types of linkages as well. Using the kinematic mapping approach, the mechanism design problem is transformed into a problem of manipulation of surfaces to visually contain the image curve by simple geometric manipulation of the size, orientation,and location of the constraint surfaces which are developed for all the cases and that yields the desired mechanism. For Spherical Four Bar, a web based software using Mathematica has been developed. The software nds a spherical 4-bar mechanism that best guides through the set of given displacements. It implements an ecient linear algorithm that naturally extracts the geometric constraints of a motion and leads directly to a mechanism for motion generation. The entire process for both the softwares is intuitive and lends designers an understanding of the mechanism design methodology.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 engineering--Roboticsen_US
dc.titleInteractive Software Systems for Planar Parallel Manipulator- and Spherical Four-Bar Linkage- Designen_US
dc.typeThesisen_US
dc.description.advisorAdvisor(s): Purwar, Dr.Anurag . Committee Member(s): Ge, Dr.Q. Jeffrey ; Zhou, Dr.Yu.en_US
dc.mimetypeApplication/PDFen_US


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