PhD Thesis Defense by Iliyas Tursynbek, NU SEDS PhD Program in Science, Engineering and Technology
Nazarbayev University’s PhD Program in Science, Engineering and Technology is delighted to invite you to the PhD Thesis Defense:
Candidate: Iliyas Tursynbek, 6th year PhD student.
Thesis Title: Design, Motion Planning, and Control of a Spherical Parallel Manipulator with Coaxial Input Shafts.
Lead Supervisor: Prof. Almas Shintemirov, Dept. of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kazakhstan.
Co-Supervisor: Prof. Matteo Rubagotti, Dept. of Robotics, School of Engineering and Digital Sciences, Nazarbayev University, Kazakhstan.
External Co-Supervisor: Prof. Alexandr Klimchik, School of Computer Science, College of Science, University of Lincoln, UK.
Chair-Internal Examiner: Prof. Konstantinos Kostas, Dept. of Mechanical and Aerospace Engineering, School of Engineering and Digital Sciences, Nazarbayev University, Kazakhstan.
Internal Examiner: Prof. Prashant Jamwal, Dept. of Electrical and Computer Engineering, School of Engineering and Digital Sciences, Nazarbayev University, Kazakhstan.
External Examiner: Prof. Xianwen Kong, Institute of Mechanical, Process, and Energy Engineering, School of Engineering and Physical Sciences, Heriot-Watt University, UK
Abstract: A special class of parallel manipulators known as spherical parallel manipulators (SPMs) can provide a three degrees-of-freedom (3-DOF) pure rotational motion. They can serve as an alternative to traditional robotic wrists based on serial architecture and can be used as spherical motion generators. Among numerous 3-DOF SPMs synthesized, 3-RRR type SPMs are among the most popular ones. Several applications, such as machining and target tracking, and object stabilization, can require having extended, full-circle, or infinite roll rotation capability from a manipulator. A coaxial SPM has such functionality due to its special kinematic architecture. In this thesis, it is hypothesized that a coaxial SPM-based system can provide infinite rotational motion of its mobile platform and can be used in target tracking and object stabilization requiring such functionality.
The thesis presentation starts with a kinematic analysis of the proposed coaxial SPM model, providing methods to obtain unique solutions to the forward and inverse kinematic problems. Then, it is followed by a numerical estimation of its Cartesian workspace and configuration space ensuring no singular configurations or configurations with link collisions, which are unsafe. This is followed by estimating the convex approximation of the obtained configuration space, for its subsequent use in a constrained control framework designed for external target tracking using a joystick, and object stabilization based on the IMU orientation sensor measurements.
Results presented in this work are supplemented with case examples, and the final prototype of the functional motion control system based on a coaxial SPM is presented.
Date and time: January 12, 2023 (Thursday) at 5.00 p.m. Astana time
The defense will be held on the ZOOM platform. Please make sure that you have installed it on your computers/devices.
Join Zoom Meeting: https://nu-edu-kz.zoom.us/j/93013529260?pwd=ZzNTNkhLM1YzVWRiWHRvRTlLNTFuUT09
