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Library

      In this section you can find basic electronic and paper materials concerned with my master thesis.

Electronic materials

1.

"Geometric Analysis of Parallel Mechanisms"; Ilian Bonev.
http://www.gpa.etsmtl.ca/prof/ibonev/Publications/ThesisBonev.pdf
In this thesis the effectiveness of geometric methods for designing and analysis of parallel mechanisms is demonstrated. The geometric methods are shown to help principles of motion, much better than algebraic or numerical methods. Also the geometric algorithm is developed for the computation of the constant-orientation workspace of 3 and 6 degrees of freedom parallel manipulators.
The synopsis of this thesis you can read here.

2.

"Analysis and Synthesis of Parallel Robots for Medical Applications"; Nabil Simaan.
www.columbia.edu/cu/mece/arma/people/nabil_simaan/MSResearch_thesis.pdf
In this thesis a miniature parallel robot for medical applications is designed and new parallel architectures are explored. Two robotic architectures (the RSPR and the USR robots), are presented in detail. The work includes type and dimensional synthesis for the suggested architectures, Jacobian formulation for avoiding singularity loci.
The synopsis of this thesis you can read here.

3.

"Nonlinear Adaptive Control of f 6-dof Parallel Manipulator"; Marcel Honegger
http://www.ifr.mavt.ethz.ch/publications/honegger98b.pdf
This paper presents the kinematic and dynamic modeling and experimental results with nonlinear adaptive control of the Hexaglide, a new 6 dof parallel manipulator that is used as a high speed milling machine.
To familiarize with this work (pdf document) you can here.

4.

"Generalized Stewart Platforms and their Direct Kinematics"; Xiao-Shan Gao и Deli Lei.
http://www.mmrc.iss.ac.cn/~xgao/paper/05-ieeetro.pdf
In this work the basic type of parallel manipulator - Gough Stewart platform is studied in detail.
The synopsis of this work you can read here.

5.

"Robust Adaptive Control of a Hexaglide Type Parallel Manipulator"; John Phil Kim, Sung-Gaun Kim, Jeha Ryu.
http://ijcas.com/admin/paper/files/7612.pdf
This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. To familiarize with this work (pdf document) you can here.

Paper materials

1.

"Robot Analysis: The mechanics of serial and parallel manipulators" Lung-Wen Tsai. – New York: John Wiley&Sons Inc., 1999. – 505С.
One of the best books devoted both to parallel and to serial manipulators. The main terms used in robotics are given. The basic principles of parallel manipulators design and control are explained. Kinematic and dynamic analyses for the parallel manipulators with three and six degrees of freedom are shown. Moreover, the Jacobian analysis for avoiding singularity loci in parallel manipulators is presented. More

2.

"Simulink 4. Специальный справочник" В.Дьяконов- Санкт-Петербург, 2002. – 517С.
In this book MatLab - Simulink 4 is presented in detail. There are many practical examples in this book. More

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