Motion Synthesis of Parallel Manipulator Based on Axodes

Sarasvati, Daulika (2026) Motion Synthesis of Parallel Manipulator Based on Axodes. Masters thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

This research introduces a synthesis approach that converts axode directly into motion type and design parameter for lower-mobility parallel manipulators (LMPMs). Addressing the limitations of conventional forward kinematics, this study eliminates numerical information loss and representation singularities by separating the synthesis process into type synthesis and dimensional synthesis. For type synthesis, instantaneous twist vectors are extracted from the target axode and analytically mapped into a dual quaternion space. By evaluating the zero-component criteria of these dual quaternions, the exact motion type of the mechanism is identified deterministically. This approach successfully verified the motion profile appropriate for a 3-RPS parallel manipulator without orientational distortion. For dimensional synthesis process, the continuous trajectory is extracted into multiple Instantaneous Screw Axis (ISA) positions, establishing an underdetermined kinematic system. To resolve this inherent mathematical imbalance, a dual-norm method is implemented. The Euclidean norm (L2) ensures the stability to produce smooth, continuous joint velocities, while the Infinity norm (L∞) accurately isolates specific operational coordinates from redundant algebraic roots. The synthesis approach extracted a consistent design parameter (h1 = 0.45 m) for the 3-RPS cube parallel manipulator. The proposed methodology was validated through mathematical back-substitution and 3D computer-aided design (CAD) modeling. The results confirm that the synthesized dimensions scale the operational workspace proportionally, guaranteeing a collision-free execution of the complex spatial task without geometric distortion.
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Penelitian ini memperkenalkan pendekatan sintesis yang mengonversi axode secara langsung menjadi tipe gerak dan parameter desain untuk lower-mobility parallel manipulators (LMPM). Dalam mengatasi keterbatasan kinematika maju konvensional, penelitian ini mengeliminasi kehilangan informasi numerik dan singularitas representasi dengan memisahkan proses sintesis menjadi type synthesis dan dimensional synthesis. Pada type synthesis, vektor twist diekstrak dari axode target dan dipetakan ke dalam dual quaternion space. Dengan mengevaluasi kriteria komponen nol dari dual quaternion ini, tipe gerak dari mekanisme diidentifikasi secara deterministik. Pendekatan ini berhasil memverifikasi profil gerak yang sesuai untuk manipulator paralel 3-RPS tanpa distorsi orientasi. Pada proses dimensional synthesis, lintasan kontinu diekstrak menjadi beberapa posisi Instantaneous Screw Axis (ISA), yang membentuk sistem underdetermined. Ketidakseimbangan matematis ini diselesaikan dengan metode dual-norm. Norma Euclidean (L2) menjamin stabilitas dalam menghasilkan kecepatan sendi yang halus dan kontinu, sedangkan Norma Infinity (L∞) mengisolasi koordinat operasional spesifik dari akar-akar aljabar redundan. Pendekatan sintesis ini mengekstrak parameter desain yang konsisten (h1 = 0.45 m) untuk manipulator paralel 3-RPS cube. Metodologi yang diusulkan kemudian divalidasi melalui substitusi balik matematis dan pemodelan 3D computer-aided design (CAD). Hasil penelitian mengonfirmasi bahwa dimensi hasil sintesis menskalakan ruang kerja operasional secara proporsional, menjamin eksekusi spasial kompleks yang bebas benturan (collision-free) tanpa distorsi geometris.

Item Type:	Thesis (Masters)
Uncontrolled Keywords:	Synthesis, Axodes, Dual Quaternion, Lower-Mobility Parallel Manipulator, Dual-Norm Method, Sintesis, Axode, Metode Dual-Norm
Subjects:	T Technology > TJ Mechanical engineering and machinery T Technology > TJ Mechanical engineering and machinery > TJ211 Robotics. T Technology > TJ Mechanical engineering and machinery > TJ211.4 Robot motion
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Mechanical Engineering > 21101-(S2) Master Thesis
Depositing User:	Daulika Sarasvati
Date Deposited:	04 Aug 2026 03:40
Last Modified:	04 Aug 2026 03:40
URI:	http://repository.its.ac.id/id/eprint/141815

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