000			02419nam a22001697a 4500
082			_a621.8 _bG552I
100			_aGoel, Akshay _926368
245			_aInvestigation of Indirect Force Control Strategies on Parallel Manipulator _cby Akshay Goel
260			_aIIT Jodhpur _bDepartment of Mechanical Engineering _c2019
300			_axiii,56p. _bHB
520			_a"Parallel Manipulators are seeking attention due to its applications in the areas of simulators, computeraided manufacturing, biomechanical devices, space exploration equipment, non-destructive testing (NDT), ship cleaning/inspection, cooperative manipulation. In such applications, manipulator interacts with the environment,which eventually imposes constraints on its behaviour. While interaction, such constraints may cause a rise in reaction forces, which may affect its stability or may even cause physical damage. This problem can be addressed either by making the motion compliant or overcoming the interaction forces by an appropriate force control strategy. Driven by this motivation, an attempt has been made in this work to develop a framework for implementing different indirect force control strategies on the parallel manipulator, namely 3-RRR planer parallel manipulator and Stewart Platform.First, the dynamic models and constraint Jacobian matrix of the closed-chain system are obtained.The dynamic model was obtained using the DeNOC based formulation and closed-loop constraint equations. Implementation of the force control strategy includes environment modelling, integration of position,velocity and force feedback, and control of joint torque to achieve the desired objective. Environmental interaction model can be implemented in two ways; i.e., either the robot approaches the stationary wall or the wall approaches the still robot. The latter is selected as a part of environment modelling as it allows setting up a reference for comparison of different strategies. Overview of various force control strategies for the industrial robot can be found in literature. This thesis presents a framework for implementation of the force-control strategies, namely, Stiffness, Impedance and Admittance control, on parallel manipulators."
650			_aIndirect Force Control Strategies _926369
650			_aMTech Theses _926370
650			_aDepartment of Mechanical Engineering _926371
700			_aShah, Suril V. _926372
942			_cTH
999			_c14737 _d14737