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Interactive Software Systems for Planar Parallel Manipulator- and Spherical Four-Bar Linkage- Design

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dc.contributor.advisor Purwar, Dr.Anurag en_US
dc.contributor.author Thakkar, Kartik en_US
dc.contributor.other Department of Mechanical Engineering en_US
dc.date.accessioned 2013-05-22T17:35:42Z
dc.date.accessioned 2015-04-24T14:45:41Z
dc.date.available 2013-05-22T17:35:42Z
dc.date.available 2015-04-24T14:45:41Z
dc.date.issued 2012-12-01 en_US
dc.identifier Thakkar_grad.sunysb_0771M_11196 en_US
dc.identifier.uri http://hdl.handle.net/1951/59887 en_US
dc.identifier.uri http://hdl.handle.net/11401/71043 en_US
dc.description 120 pg. en_US
dc.description.abstract Dimensional 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.sponsorship This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree. en_US
dc.format Monograph en_US
dc.format.medium Electronic Resource en_US
dc.language.iso en_US en_US
dc.publisher The Graduate School, Stony Brook University: Stony Brook, NY. en_US
dc.subject.lcsh Mechanical engineering--Robotics en_US
dc.title Interactive Software Systems for Planar Parallel Manipulator- and Spherical Four-Bar Linkage- Design en_US
dc.type Thesis en_US
dc.mimetype Application/PDF en_US
dc.contributor.committeemember Ge, Dr.Q. Jeffrey en_US
dc.contributor.committeemember Zhou, Dr.Yu. en_US

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