Spherically-actuated platform manipulator
The focus of this thesis is the SPherically-Actuated platform Manipulator (SPAM), a six degree-of-freedom platform manipulator. The SPAM robot is a novel design, employing two three degree-of-freedom Rosheim Omni-Wrists as spherical actuators. Each actuator is placed at the base of an SRU chain connected to the base and the platform. The design of the robot and its limitations are discussed. SPAM forward and inverse pose kinematics, inverse rate kinematics, and singularity analysis are presented. Due to complexities with the Omni-Wrist, the Newton-Raphson numerical procedure is used to solve the pose kinematics problems, requiring a good initial guess of the manipulator configuration. Analytical procedures are used to solve the inverse rate kinematics problem. Control schemes are presented for a single joint/link system and implemented in a scheme to control a single degree-of-freedom Cartesian plunge motion of the manipulator. Theory supporting the PID controller design is included as well as hardware implementation of the controller. Simulations of the system aided the improvement of the controller, leading to a final system that was successfully used to control the plunge motion of the hardware.
School Location:USA - Ohio
Source Type:Master's Thesis
Keywords:spherically actuated platform manipulator spam robot kinematics problems configuration inverse rate
Date of Publication:01/01/2000