الفهرس 
Chapter (1) IntroductionOnly 14 pages are availabe for public view
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Abstract
Most industrial machine tools have a serial kinematic architecture in which each axis supports the next consecutive one, including its actuators and joints. On the other hand, a new generation of machine tools, known as PKMs (Earallel Kinematic Machine Tool~), is promising to revolutionize the current manufacturing methods used in producing workpieces with complex geometry components. As most serial machine tools have three degrees of freedom, therefore the present study focuses on parallel manipulators that have three degrees of freedom. The studied manipulator is a 3-ERP planar parallel manipulator. The moving platform is constrained to two translational motions along Cartesian axes X, Y, in addition to one rotational motion about Z-direction.
The kinematic analysis, velocity, and acceleration equations are derived using vector-loop method, and the kinematic equations are derived by simple methods and in a systematic manner. from velocity equations, the Jacobian matrix can be determined and singularities position can be found. The total workspace can be determined by solving the direct kinematics equations.
The dynamic behavior of the (3-ERP) parallel manipulator is analyzed using the Lagrangian equations of the first type, and equations of motion are determined to compute the forces needed to move the platform on the designed trajectory. Many trajectories are applied, and results from simulation program (ADAMS) are compared with the results obtained from kinematics and dynamics analysis.
Finally, an experimental model is designed and constructed for a planar parallel manipulator. The planar motion is controlled with open loop control system through a digital computer which utilizes a MatlabbToolbox robot routine.