The prototype movement is measured and the results show that the end effector is accurate to within 3mm and the rotation is accurate within 0.5 degrees. When flying around, the H-Delta stabilizes the movement of the end effector, reducing acceleration. WhentheUAV getsclose enough, the H-Delta reaches out and automatically retrieves the object. The prototype can use an on-board camera to track the position of an objectiveonthegroundandcenterthegripperoverit. The H-Delta is mounted on a UAV to survey and interact with its surroundings. With the knowledge of the strengths of the H-Delta gained from the analysis and prototype, select applications are presented where the H-Delta best lends its strengths to the application. A multi-objective optimization of the H-Delta is presented and using the information accrued to this point an initial prototype is designed and constructed to verify the H-Delta structure. The results of the dynamic calculations are verified with a dynamic simulation which also acts as a test bed to develop control systems. A Dynamic analysis is performed by formulating the dynamic equations of the H-Delta using the Lagrangian method. To provide a reference to an existing structure the H-Delta is compared to the benchmark Stewart Platform. The kinematic analysis of the H-Delta covers the inverse kinematics, Jacobian matrix derivation, stiffness, and dexterity. This thesis begins by covering the necessary background the H-Delta is built upon, and then describes the structure of the H-delta and how it improves upon the state-of-the-art. Importantly, the rotational DOF are decoupled, independent of the translational movement. The H- Delta adds 2 degrees of freedom (DOF) to the traditional Delta robot in a novel way, adding functionality and versatility. 1 H-Delta: Design and Applications of a Novel 5 Degree of Freedom Parallel Robot by Jonathan Hodgins A Thesis Submitted in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy in Mechanical Engineering in The Faculty of Engineering and Applied Science Mechanical Engineering University of Ontario Institute of Technology April 2018 Jonathan Hodgins, 2018ΔΆ Abstract This thesis presents a new parallel 5 DOF robot called the H-Delta.
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