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dc.contributor.advisor Ghorbel, Fathi H.
dc.creatorGonzalez Garcia, Jorge Alberto
dc.date.accessioned 2009-06-04T08:49:03Z
dc.date.available 2009-06-04T08:49:03Z
dc.date.issued 2000
dc.identifier.urihttps://hdl.handle.net/1911/17424
dc.description.abstract The purpose of this work is to develop a singular perturbation-based approach to modeling closed kinematic chains. First, a kinematical analysis is developed to show that closed kinematic chains cannot be modeled in general using only independent generalized coordinates. Second, the Lagrangian formulation is used to develop the DAE system for closed kinematic chains. Next, differential algebraic equations (DAEs) are described, followed by discussion of standard techniques for their solution and the limitations of the standard techniques with respect to model-based control design. Then, a singular perturbation approach to solving the DAE that arise from closed kinematic chains is developed. Using this model makes it possible to solve an ODE which is an approximation of the DAE. Finally, the technique is illustrated using the Rice Planar Delta Robot.
dc.format.extent 86 p.
dc.format.mimetype application/pdf
dc.language.iso eng
dc.subjectMechanical engineering
dc.title A singular perturbation approach to modeling closed kinematic chains
dc.type.genre Thesis
dc.type.material Text
thesis.degree.department Mechanical Engineering
thesis.degree.discipline Engineering
thesis.degree.grantor Rice University
thesis.degree.level Masters
thesis.degree.name Master of Science
dc.identifier.citation Gonzalez Garcia, Jorge Alberto. "A singular perturbation approach to modeling closed kinematic chains." (2000) Master’s Thesis, Rice University. https://hdl.handle.net/1911/17424.


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