Dynamic analysis, design and control

In this work several investigation and developments have been carried out. The summary of these is asfollow: An investigation into the applicability of the bond-graph methodology. using the so-called Model Transformation tools software,has been undertaken to model parallel roborts. this software is a novel,non-commercial,program developed at the university of glasgow, and in addition to the standard bond grah, it contains a powerful tool called the hierachical bond graph for dealing with very large-scale dynamical systems. it is the frist time this tool has been applied for the modelling of parallel manipulators. A general method for modelling parallel robots using the hierachical bondgraph concept has been developed. the method is based on related work on the modelling of closed chain robots using the lagrange method. Introduction of a new design concept to be known as the multi-cell parallel parallel planar manipulator. the methodology allows for an uncrease in the workspace of the manipulator by inceasing the number of cells without affecting the number of DOF. it can also be shown to enhance the manoeuvrability of the system.application of the multi-cell approach to a spproach to a specific 2- DOF planar parallel manipulator and recognition of the need for a general model led