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Dissertations / Theses on the topic 'Robotic Design'
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1
Mills, Euclid Weatley. "Mobile robotic design : robotic colour and accelerometer sensor." Thesis, University of Bradford, 2010. http://hdl.handle.net/10454/4436.
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This thesis investigates the problem of sensors used with mobile robots. Firstly, a colour sensor is considered, for its ability to detect objects having the three primary colours Red, Green and Blue (RGB). Secondly, an accelerometer was investigated, from which velocity was derived from the raw data using numerical integration. The purpose of the design and development of the sensors was to use them for robotic navigation and collision avoidance. This report presents the results of experiments carried out on the colour sensor and the accelerometer. A discussion of the results and some conclusions are also presented. It proved feasible to achieve the goal of detecting colours successfully but only for a limited distance. The accelerometer proved reliable but is not yet being applied in real time. Both the colour sensor and the accelerometer proved to be inexpensive. Some recommendations are made to improve both the colour sensor and the accelerometer sensors.
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Yilmaz, Serter. "Passive Haptic Robotic Arm Design." Master's thesis, METU, 2010. http://etd.lib.metu.edu.tr/upload/12612491/index.pdf.
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The implant surgery replaces missing tooth to regain functionality and look of the normal tooth after dental operation. Improper placement of implant increases recuperation periods and reduces functionality. The aim of this thesis is to design a passive haptic robotic arm to guide dentist during the implant surgery.
In this thesis, the optimum design of the 6R passive haptic robotic arm is achieved. The methodology used in optimization problem involves minimization of end-effector side parasitic forces/torques while maximizing transparency of the haptic device. The transparency of haptic device is defined as realism of forces generated by device in real world compared to forces in virtual world. The multivariable objective function including dynamic equations of 6R robotic arm is derived and the constraints are determined using kinematic equations. The optimization problem is solved using SQP and GA. The link lengths and other relevant parameters along with the location of tool path are optimized. The end-effector parasitic torques/forces are significantly minimized. The results of two optimization techniques have proven to be nearly the same, thus a global optimum solution has been found in the search space. Main contribution of this study is to take spatial nonlinear dynamics into consideration to reduce parasitic torques.
Also, a mechanical brake is designed as a passive actuator. The mechanical brake includes a cone based braking system actuated by DC motor. Three different prototypes are manufactured to test performance of the mechanical brake. The final design indicates that the mechanical brake can be used as passive actuators.
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Schelb, Joachim, and Hartmut Ilch. "Hygienic Handling – Hygienic Design Robotic." Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-163567.
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Die MAJA-Maschinenfabrik Hermann Schill GmbH & Co. KG wurde im Jahre 1955 von Hermann Schill sen., dem Großvater der heutigen Eigentümer, in der Gemeinde Goldscheuer bei Kehl am Rhein gegründet und zählt heute zu den Marktführern der Branche. Seit 60 Jahren entwickelt, produziert und vertreibt MAJA Entschwartungs-, Entfettungs und Entvliesmaschinen, Enthäutungsmaschinen für Fisch und Geflügel, Fleischschneidesysteme und Automatisierungslösungen für die Lebensmittelbranche, außerdem Eiserzeuger zur Herstellung und Kühlung von Lebensmitteln.
Lebensmittelvergiftungen, Verunreinigungen und Rückrufaktionen sind meist die Folgen von nicht konsequent durchgeführten Hygienestandards. Die Hygienerichtlinien werden zunehmend verschärft und müssen neben den Mitarbeitern vor Ort auch von den Anlagen- und Maschinenbauern eingehalten werden. MAJA hat sich die Entwicklung und Produktion einer Robotermechanik nach den höchsten Hygienestandards zur Aufgabe gemacht, da diese nach unserer Auffassung das Herzstück einer flexiblen Automatisierung darstellt und ein Maximum an Robustheit und Zuverlässigkeit auch hier unabdingbar ist.
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Bell, Timothy L. "Sea-Shore interface robotic design." Thesis, Monterey, California: Naval Postgraduate School, 2014. http://hdl.handle.net/10945/42580.
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Approved for public release; distribution is unlimitedAn exoskeleton platform was developed, prototyped and tested for mobility performance in a beachfront environment. New platform, drive-train, motor-controller and wheel design were employed in the experiment. The objective was to improve on the shortcoming of previous NPS research. Three wheel-designs were tested during fixed pattern tests on grass, concrete and sand. Data suggests that, with regard to power consumption, there is a marginal difference on preferred wheel design. The sparse print round wheel showed promise in heavy vegetation; however, the WhegTM wheel proved to be the most versatile on various terrains. This suggests that a WhegTM wheel with improved round wheel characteristics would be optimal for various beachfront terrains.
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McKenzie, Jacob Elijah. "Design of robotic quadruped legs." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/70444.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 167-171).
Prized for their performance on prepared surfaces, wheeled vehicles are often limited in mobility by rough and unstructured terrain. Conversely, systems that rely on legs have shown promising rough terrain performance but only a modest ability to achieve high speeds over flat terrain. The goal of this thesis is to develop four robotic legs that are capable of robust dynamic running over flat terrain. Demonstration of this ability is necessary to improve the viability of robotic legs as a propulsion system. Achieving true dynamic running presents many challenges, and the first step in prevailing over the difficulties this task presents is the development of a sound mechanical system. The leg designs presented here are based on the development of four design principles from both biological systems, dynamic simulations and previous research. These principles suggest that a leg design should: minimize passive mechanical impedance, minimize mass and inertia, maximize actuator strength and develop a balance between leg kinematics and robot use. To bring these principles into reality several unique design features were introduced including a doubly concentric actuator layout, synthetic fiber tendons to reduce bending loads in the legs, polymer leg links and the use of electric motors to their thermal limit. To accompany these technical features simulation-based design tools were developed that provide an intuitive insight into how altering design parameters of the leg may affect locomotion performance. The key feature of these tools is that they plot the forces that the leg is capable of imparting on the body for a given set of dynamic conditions. Single and multiple leg testing has shown that the legs perform well under dynamic loading and that they are capable producing vertical ground reaction forces larger than 800 N and horizontal forces larger than 150 N. Many of the design principles, features and tools developed may be used with a large variety of leg structures and actuation systems.
by Jacob Elijah McKenzie.
S.M.
6
Li, Lu. "New Method for Robotic Systems Architecture Analysis, Modeling, and Design." Case Western Reserve University School of Graduate Studies / OhioLINK, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1562595008913311.
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Snow, Bradley William. "Prototyping a robotic disassembly testbed." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17955.
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Cabrera, Pablo Marcelo. "Robotic Fabrication Workflows for Environmentally Driven Facades." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/92001.
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Even though computer simulation of environmental factors and manufacturing technologies have experienced a fast development, architectural workflows that can take advantage of the possibilities created by these developments have been left behind and architectural design processes have not evolved at the same rate. This research presents design to fabrication workflows that explore data driven design to improve performance of facades, implementing for this purpose computational tools to handle environmental data complexity and proposes robotic fabrication technologies to facilitate façade components fabrication.
During this research three design experiments were conducted that tested variations on the design to fabrication workflow, approaching the flow of information in top-down and bottom-up processes. Independent variables such as material, environmental conditions and structural behavior, are the framework in which workflow instances are generated based on dependent variables such as geometry, orientation and assembly logic. This research demonstrates the feasibility of a robotic based fabrication method informed by a multi-variable computational framework plus a simulation evaluator integrated into a design to fabrication workflow and put forward the discussion of a fully automated scenario.Master of Science
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Scarcia, Umberto <1985>. "Design and Control of Robotic Hands." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7085/1/Umberto_Scarcia_tesi.pdf.
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The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors.
In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted.
The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.
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Scarcia, Umberto <1985>. "Design and Control of Robotic Hands." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2015. http://amsdottorato.unibo.it/7085/.
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The application of dexterous robotic hands out of research laboratories has been limited by the intrinsic complexity that these devices present. This is directly reflected as an economically unreasonable cost and a low overall reliability. Within the research reported in this thesis it is shown how the problem of complexity in the design of robotic hands can be tackled, taking advantage of modern technologies (i.e. rapid prototyping), leading to innovative concepts for the design of the mechanical structure, the actuation and sensory systems. The solutions adopted drastically reduce the prototyping and production costs and increase the reliability, reducing the number of parts required and averaging their single reliability factors.
In order to get guidelines for the design process, the problem of robotic grasp and manipulation by a dual arm/hand system has been reviewed. In this way, the requirements that should be fulfilled at hardware level to guarantee successful execution of the task has been highlighted.
The contribution of this research from the manipulation planning side focuses on the redundancy resolution that arise in the execution of the task in a dexterous arm/hand system. In literature the problem of coordination of arm and hand during manipulation of an object has been widely analyzed in theory but often experimentally demonstrated in simplified robotic setup. Our aim is to cover the lack in the study of this topic and experimentally evaluate it in a complex system as a anthropomorphic arm hand system.
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Saab, Wael. "Design and Implementation of Articulated Robotic Tails to Augment the Performance of Reduced Degree-of-Freedom Legged Robots." Diss., Virginia Tech, 2018. http://hdl.handle.net/10919/82908.
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This dissertation explores the design, and implementation of articulated robotic tail mechanisms onboard reduced degree-of-freedom (DOF) legged robots to augment performance in terms of stability and maneuverability. Fundamentally, this research is motivated by the question of how to improve the stability and maneuverability of legged robots. The conventional approach to address these challenges is to utilize leg mechanisms that are composed of three or more active DOFs that are controlled simultaneously to provide propulsion, maneuvering, and stabilization. However, animals such as lizards and cheetahs have been observed to utilize their tails to aid in these functionalities. It is hypothesized that by using an articulated tail mechanism to aid in these functionalities onboard a legged robot, the burden on the robot's legs to simultaneously maneuver and stabilize the robot may be reduced. This could allow for simplification of the leg's design and control algorithms.
In recent years, significant progress has been accomplished in the field of robotic tail implementation onboard mobile robots. However, the main limitation of this work stems from the proposed tail designs, the majority of which are composed of rigid single-body pendulums that provide a constrained workspace for center-of-mass positioning, an important characteristics for inertial adjustment applications.
Inspired by lizards and cheetahs that adjust their body orientation using flexible tail motions, two novel articulated, cable driven, serpentine-like tail mechanisms are proposed. The first is the Roll-Revolute-Revolute Tail which is a 3-DOF mechanism, designed for implementation onboard a quadruped robot, that is capable of forming two mechanically decoupled tail curvatures via an s-shaped cable routing scheme and gear train system. The second is a the Discrete Modular Serpentine Tail, designed for implementation onboard a biped robot, which is a modular two-DOF mechanism that distributes motion amongst links via a multi-diameter pulley. Both tail designs utilize a cable transmission system where cables are routed about circular contoured links that maintain equal antagonistic cable displacements that can produce controlled articulated tail curvatures using a single active-DOF. Furthermore, analysis and experimental results have been presented to demonstrate the effectiveness of an articulated tail's ability to: 1) increase the manifold for center-of-mass positioning, and 2) generate enhanced inertial loading relative to conventionally implemented pendulum-like tails.
In order to test the tails ability to augment the performance of legged robots, a novel Robotic Modular Leg (RML) is proposed to construct both a reduced-DOF quadrupedal and bipedal experimental platform. The RML is a modular two-DOF leg mechanism composed of two serially connected four-bar mechanisms that utilizes kinematic constraints to maintain a parallel orientation between it's flat foot and body without the use of an actuated ankle. A passive suspension system integrated into the foot enables the dissipation of impact energy and maintains a stable four point-of-contact support polygon on both flat and uneven terrain.
Modeling of the combined legged robotic systems and attached articulated tails has led to the derivation of dynamic formulations that were analyzed to scale articulated tails onboard legged robots to maximize inertial adjustment capabilities resulting from tail motions and design a control scheme for tail-aided maneuvering.
The tail prototypes, in conjunction with virtual simulations of the quadruped and biped robot, were used in experiments and simulations to implement and analyze the methods for maneuvering and stabilizing the proposed legged robots. Results successfully demonstrate the tails' ability to augment the performance of reduced-DOF legged robots by enabling comparable walking criteria with respect to conventional legged robots. This research provides a firm foundation for future work involving design and implementation of articulated tails onboard legged robots for enhanced inertial adjustment applications.Ph. D.
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Keating, Steven J. (Steven John). "Renaissance robotics : novel applications of multipurpose robotic arms spanning design fabrication, utility, and art." Thesis, Massachusetts Institute of Technology, 2012. http://hdl.handle.net/1721.1/78184.
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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.
Includes bibliographical references (p. 204-208).
This work investigates, defines, and expands on the use of robotic arms in digital fabrication, design, and art through methods including 3D printing, milling, sculpting, functionally graded fabrication, construction-scale additive manufacturing, jammable granular system design, light painting, and volumetric sensing. While most current applications of robotics in manufacturing rely on repetitive automation and assembly tasks, the flexibility, dexterity, and precision of industrial robotic arms provide for design opportunities of multi-functionary roles. Through exploration and demonstration, a multipurpose fabrication platform was developed using a KUKA KR5 sixx R850 robotic arm. The platform is capable of conventional manufacturing techniques spanning the three traditional fabrication categories: additive, subtractive, and formative. Case studies and digital design fabrication protocols were developed as part of the robotic platform to demonstrate these three types of fabrication including 3D printing, multi-axis milling, and clay sculpting, respectively. Compound processes, such as combining 3D printing and milling, were developed that offer product-, and process-based improvements over standalone techniques. The benefits and drawbacks of a multi-fabrication platform are discussed, including cost, physical footprint, resolution, and flexibility. In addition to replicating conventional manufacturing techniques with a single robotic platform, several novel applications were developed which take advantage of the flexibility of an arm system. First, functionally graded 3D printing was explored using concrete through which density gradients were shown to achieve higher structural efficiency. A novel construction-scale additive manufacturing process capable of 3D printing building components was developed. Secondly, direct recycling 3D printing was developed where waste thermoplastic products are transformed into feedstock and printed into new components within a single operation. Work conducted on jammed granular structures, where external pressure controls system stiffness and strength, resulted in several new formative fabrication possibilities. Combined with robotics, waste-free digital casting using jammable materials was enabled along with a variety of design projects including the design of robotic arms themselves. Finally, the use of robotic arms for fabrication of material and environmental properties without mechanical force transfer was explored. Coined immaterial fabrication,t his fabrication category captures methods that do not fall within the definitions of additive, subtractive, or formative processes. Work produced in this area includes a volumetric sensing technique and robotic light paintings that reveal thermal, electromagnetic, and optical fields.
by Steven J. Keating.
S.M.
13
Wallin, Marcus. "Robotic Illustration." Thesis, KTH, Maskinkonstruktion (Inst.), 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-141680.
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Detta projekt åsyftade att möjliggöra för en industrirobot att illustrera godtyckliga digitalabilder på en plan yta. Detta uppnåddes genom att utrusta en manipulator med ett ritverktyg. Genom digital bildbehandling så kunde rörelsemönster genereras vilka matades till industriroboten för att den skulle kunna återskapa den digitala versionen. Roboten ritar med en teknik benämnd pointillism som innebär att endast punkter plottas. Resultatet blir en konkret svartvit representation av originalbilden. Projektet genomfördes på institutionen Industriell Produktion på Kungliga Tekniska Högskolan. Projektet är i sin natur väldigt inriktat på forskning och utveckling eftersom det går ut på skapandet av en teknik för att uppnå ett tydligt mål. Kontinuerlig utveckling var kopplat till målet för att förbättra resultatet från olika aspekter.This project strived to enable an industrial robot to illustrate arbitrary digitized images on a planar surface. This was accomplished by equipping a robotic manipulator with a drawing utensil. Motion patterns were generated based on digital image processing and fed to the robot for it to imitate the digital version. The robot prints with a technique called pointillism, which implies that solely points are plotted. The result is a tangible black and white representation of the original image. The project was carried out in the Production Engineering facilities at the Royal Institute of Technology. The nature of the project is very research and development oriented as it deals with the creation of a technology to achieve an explicit goal. Continuous development was related to the goal to improve the result from different aspects.
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Sahin, Hakan. "Design Of A Secondary Packaging Robotic System." Master's thesis, METU, 2005. http://etd.lib.metu.edu.tr/upload/12606922/index.pdf.
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The use of robotic systems in consumer goods industry has increased over recent years. However, food industry has not taken to the robotics technology with the same desire as in other industries due to technical and commercial reasons. Difficulties in matching human speed and flexibility, variable nature of food products, high production volume rates, lack of appropriate end-effectors, high initial investment rate of the so-called systems and low margins in food products are still blocking the range of use of robotics in food industry.
In this thesis study, as a contribution to the use of robotic systems in food industry, a secondary packaging robotic system is designed. The system is composed of two basic subsystems: a dual-axis controlled robotic arm and a special-purpose gripper. Mechanical and control systems design of basic subsystems are performed within the scope of the study. During the designing process, instead of using classical design methods, modern computer-aided design and engineering tools are utilized.
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Al-Widyan, Khalid. "The robust design of robotic mechanical systems /." Thesis, McGill University, 2004. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=84984.
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Task uncertainty and noise---generically referred to as uncertainties in the thesis---in the design and operation of robotic mechanical systems pose a major challenge to the designer. The aim of this thesis is to contribute to the laying down of the foundations on which the design of robotic mechanical systems, in the presence of uncertainties, is to be based. Uncertainties are accounted for by means of robustness. To this end, a theoretical framework as well as a general methodology for model-based robust design are proposed. Within this framework, all quantities involved in a design task are classified into three sets: the design variables (DV), which are to be assigned values as an outcome of the design task; the design-environment parameters (DEP), over which the designer has no control; and the performance functions (PF), representing the functional relations among performance, DV and DEP. A distinction is made between globally robust design and locally robust design, this thesis focusing on the latter. Locally robust design is amenable to mathematical modelling of the performance by means of smooth functions of the DV and DEP. Resorting to the mathematical model available for the object under design, a design performance matrix, mapping the space of relative variations in DEP---referred to as noise in the literature on robust design---into that of relative variations in PF, is derived. Then, the locally robust design problem is formulated as the minimization of a norm of the covariance matrix of the variations in the PF upon variations in the DEP. Moreover, one pertinent concept are introduced: design isotropy. Next, it is shown that an optimally robust design can be secured by means of isotropy, whenever this is achievable under the constraints of the problem at hand. As proven in the thesis, designs obtained via isotropy lead to robustness even in the absence of a priori knowledge of the statistical properties of the variations ofIn connection with robotic mechanical systems, the design task is decomposed into three subtasks, namely, kinetostatic, elastostatic, and elastodynamic, in this order. We show that parallel manipulators allow for isotropic designs, but their serial counterparts do not.
The motivation behind the research work reported here being the design of robotic mechanical systems, the simulation of their dynamic response becomes an essential component in their design. In order to validate the proposed design, a robust algorithm for the simulation of conservative linear systems, which model accurately the systems of interest in the presence of "small" environment perturbations, is introduced. The robustness of the algorithm lies in its immunity to roundoff and truncation errors, which could lead to either instability or a dissipative response in the simulation results otherwise.
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Zadeh, Nader Nariman. "Genetic design of controllers for robotic manipulators." Thesis, University of Salford, 1996. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.308222.
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Parietti, Federico. "Design and control of supernumerary robotic limbs." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/107543.
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Thesis: Ph. D., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.Cataloged from PDF version of thesis.
Includes bibliographical references (pages 175-181).
Humans possess the remarkable ability to control their four natural limbs in a voluntary, accurate and independent manner. The simultaneous use of two or more limbs allows humans to learn and robustly perform a wide range of complex tasks. Since the use of multiple limbs enables humans to master advanced motor skills, it would be interesting to study whether having additional limbs would enable users to expand their skill set beyond its natural limits. Inspired by this vision, we propose a new form of human augmentation: a wearable robot that augments its user by providing him with an additional set of robotic limbs. We named this new device Supernumerary Robotic Limbs (SRL). However, humans have never had the possibility to control additional, powered limbs besides their natural arms and legs. The main theme of this thesis, besides realizing a prototype of the robot and proving its usefulness in realworld tasks, is demonstrating that humans can voluntarily control additional limbs as if they were a part of their own body. We realized a lightweight (3.5 kg), comfortable prototype of the SRL that can be easily worn by an unassisted user. Two robotic limbs can assist the user in both manufacturing and locomotion tasks. We created control strategies that take advantage of the independence of the robotic limbs, enabling them to provide optimal assistance in specific tasks such as weight support, body stabilization, using powered tools, sitting/standing and dynamic walking. Finally, we developed an EMG-based control interface that enables users to voluntarily control the motion of the robotic limbs, without interfering with the posture of the rest of the body. The new augmentation technology presented in this thesis opens up new possibilities in the field of wearable robotics. The voluntary control of additional robotic limbs falls within the range of motor skills that humans can learn, and enables the acquisition of a new set of complex skills that would not be achievable using only the natural body..
by Federico Parietti.
Ph. D.
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Spadafora, Mark (Mark A. ). "Design of a minimalist autonomous robotic vehicle." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/45318.
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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaf 18).
The purpose of this thesis is to investigate design alternatives for the creation of a minimalist autonomous robotic vehicle, based on the Ford Escape. The work builds on prior work performed by the MIT DARPA Urban Challenge team, which competed in the national DARPA Urban Challenge NQE and UCE events in October and November 2007. The MIT team pursued an ambitious design that was rich in both sensors and computation. The excessive amount of equipment and computing power throughout the current vehicle make it too expensive and unreasonable to go into actual production. The goal for this work is to revisit the design approach of the MIT team, and from a Mechanical Engineering perspective, to perform a new conceptual design that would bridge the gap between the current vehicle and present in production technologies. By developing a minimalist sensor/processor configuration, the Ford Escape can more closely reflect a present day vehicle, in both appearance and cost, and be more viable for future production. Using the Ford Escape rapid prototype vehicle, the previous installation was stripped out in order to design, re-engineer, and implement a configuration that will allow new research in affordable autonomy and active safety for in-production vehicles.
by Mark Spadafora.
S.B.
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Smith, Casey Wayne 1977. "Material design for a robotic arts studio." Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/62367.
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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2002.Includes bibliographical references (p. 59).
A growing number of artists are using new electronic and computational technologies for the creation of interactive, kinetic, and behavior-based art. However, users without technical backgrounds often find that there is no simple way to begin creating with these new materials without first learning a wide range of programming and electronic skills. This thesis discusses a set of technologies and activities designed for an introductory robotic art course that enable art students with little technical background to experiment with computation as a medium. The thesis presents case studies to highlight how students engaged with these technologies and discusses how the ideas represented in the course make possible a new model for artist/engineer collaboration.
by Casey Wayne Smith.
S.M.
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Rodhouse, Kathryn, Steven Ziegler, and Ryan Huttsell. "A Robotic Platform for Student System Design." International Foundation for Telemetering, 2010. http://hdl.handle.net/10150/605979.
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ITC/USA 2010 Conference Proceedings / The Forty-Sixth Annual International Telemetering Conference and Technical Exhibition / October 25-28, 2010 / Town and Country Resort & Convention Center, San Diego, CaliforniaThe goal of the project described in this paper, is to develop a platform for undergraduate engineering students to use in system analysis and design courses. We chose to develop an inexpensive robotic platform. The robot is intended to be autonomous, under the control of an on-board microcontroller. In the first revision of the hardware, a three wheeled design will be used, with the intention of being used indoors, on smooth surfaces. Students in their first year of college education will purchase the components, and assemble the robot. After analyzing the baseline design, they will be encouraged to incorporate new sensors and actuators in the subsequent laboratory courses.
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Yeung, Yip Fun. "Design of a robotic water-pipe rehabilitation." Thesis, Massachusetts Institute of Technology, 2019. https://hdl.handle.net/1721.1/128333.
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Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, June, 2019Cataloged from PDF version of thesis.
Includes bibliographical references (pages 87-89).
Corrosion in water pipeline causes leak and forms tubercle at the vicinity of leaks. Various in-pipe robots have been developed in recent years for locomotion and inspection along the pipeline. Not much focus is put on in-pipe operations such as pipe maintenance and rehabilitation. This thesis presents an in-pipe robotic system for minimal particle contamination obstruction removal operation of corroded water pipes. It proposes a robotic system with a Manipulation Module and a Compliant Surface Adaptation Module. The Manipulation Module contains a 4-Degree of Freedom robotic manipulator that is able to remove tubercle in 102mm diameter pipes. The Compliant Surface Adaptation Module contains optimized designs to enclose a watertight volume on a macroscopically rough surface. This robotic platform is the first in-pipe robot designated to rehabilitate water pipe with minimal contamination.
by Yip Fun Yeung.
S.M.
S.M. Massachusetts Institute of Technology, Department of Mechanical Engineering
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Rickel, Jayson Anthony. "Engineering Senior Design Project: Robotic Lawn Mower." Thesis, The University of Arizona, 2014. http://hdl.handle.net/10150/321922.
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Vrána, Vojtěch. "Návrh robotické buňky pro obsluhu tryskače pro čištění odlitků." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444305.
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The main goal of this master’s thesis is to create a design of robotic cell for operating of blasting machine. Operation of blasting machine consists of robotic manipulation of aluminium castings from input container to the blasting machine conveyor. After blasting operation aluminium castings are manipulated by robot from conveyor to output container. The part of the master's thesis is proposal of several variants of solution of design of robotic cell. Afterwards the best option is selected. The thesis also deals with design and selection of functional components in robotic cell. Functional verification of robotic cell is made in software Tecnomatix Process Simulate. Technical-economics evaluation is also part of this master’s thesis.
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Kesner, Samuel Benjamin. "Robotic Catheters for Beating Heart Surgery." Thesis, Harvard University, 2011. http://dissertations.umi.com/gsas.harvard:10016.
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Compliant and flexible cardiac catheters provide direct access to the inside of the heart via the vascular system without requiring clinicians to stop the heart or open the chest. However, the fast motion of the intracardiac structures makes it difficult to modify and repair the cardiac tissue in a controlled and safe manner. In addition, rigid robotic tools for beating heart surgery require the chest to be opened and the heart exposed, making the procedures highly invasive. The novel robotic catheter system presented here enables minimally invasive repair on the fast-moving structures inside the heart, like the mitral valve annulus, without the invasiveness or risks of stopped heart procedures. In this thesis, I investigate the development of 3D ultrasound-guided robotic catheters for beating heart surgery. First, the force and stiffness values of tissue structures in the left atrium are measured to develop design requirements for the system. This research shows that a catheter will experience contractile forces of 0.5 – 1.0 N and a mean tissue structure stiffness of approximately 0.1 N/mm while interacting with the mitral valve annulus. Next, this thesis presents the catheter system design, including force sensing, tissue resection, and ablation end effectors. In order to operate inside the beating heart, position and force control systems were developed to compensate for the catheter performance limitations of friction and deadzone backlash and evaluated with ex vivo and in vivo experiments. Through the addition of friction and deadzone compensation terms, the system is able to achieve position tracking with less than 1 mm RMS error and force tracking with 0.08 N RMS error under ultrasound image guidance. Finally, this thesis examines how the robotic catheter system enhances beating heart clinical procedures. Specifically, this system improves resection quality while reducing the forces experienced by the tissue by almost 80% and improves ablation performance by reducing contact resistance variations by 97% while applying a constant force on the moving tissue.Engineering and Applied Sciences
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Draghetti, Lorenzo. "Optimized design of an ABB robotic palletizing station." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.
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Nowadays pallets (and then palletization) have become an essential tool for the various stages of the production and supply chain. The palletization process is typically automatized and can be realized in 2 ways: exploiting automatic machines (conventional palletizers) or robots (robotic palletizers). The latter option provides higher flexibility at the cost of lower operation speed.
The aim of this thesis is to design and program an ABB robotic palletizing station trying to minimize as possible process time and space and meeting some predefined requirements, using the software ABB RobotStudio. The particularity of this project is that 3 different kinds of boxes, which come to the station with different probabilities, need to be subjected to some operations (drawing and writing) before to get palletized onto different pallets.
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Song, Peilin. "Robotic manipulator control, fundamentals of task space design." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp02/NQ28063.pdf.
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Roy, Matthew MacGregor. "Design and fabrication of a lightweight robotic manipulator." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ37282.pdf.
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Diez, Jacob A. "Design for additive fabrication : building miniature robotic mechanisms." Thesis, Georgia Institute of Technology, 2001. http://hdl.handle.net/1853/17668.
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Saha, Subir Kumar. "Dynamics and design of nonholonomic robotic mechanical systems." Thesis, McGill University, 1991. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=70188.
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This thesis presents a novel approach in formulating kinematic constraints and a methodology for the dynamic modelling of mechanical systems with nonholonomic couplings. The method presented here is based on the natural orthogonal complement (NOC) of the kinematic constraint matrix associated with the linear homogeneous form of the kinematic constraints. The method of the NOC is used to model mechanical systems consisting of multiple-loop kinematic chains with nonholonomic constraints. Moreover, the method of the NOC, when coupled with an optimization technique, can be used for the feedforward control of redundantly actuated systems, as shown here.The method of the NOC is first discussed in detail with the aid of an example of a two-wheeled mechanical system. Then, nonholonomic robotic mechanical systems, for example, automatic guided vehicles (AGVs), are analysed for simulation purposes. As a result, general-purpose software is developed for the kinematic and dynamic analyses of three-degree-of-freedom (3-DOF) AGVs. These AGVs use omnidirectional wheels which, in contrast to conventional wheels, e.g., the wheels in an automobile, result in 3-DOF motion of the vehicle. Isotropic designs of 3-DOF AGVs for direct kinematics are proposed, which should enhance the control of the vehicle.
With advanced computer graphics, a common trend is to use motion animation in assessing the time response of the systems under study. This brought about issues of algorithmic complexity that are inherent to motion animation. These issues are addressed with an example involving the attitude representation of a rigid body and the choice of a suitable coordinate frame in representing the dynamic equations of motion.
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Yi, Xiang. "Design of a robotic transcranial magnetic stimulation system." Thesis, University of Newcastle Upon Tyne, 2012. http://hdl.handle.net/10443/1444.
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Transcranial Magnetic Stimulation (TMS) is an excellent and non-invasive technique for studying the human brain. Accurate placement of the magnetic coil is required by this technique in order to induce a specific cortical activity. Currently, the coil is manually held in most of stimulation procedures, which does not achieve the precise clinical evaluation of the procedure. This thesis proposes a robotic TMS system to resolve these problems as a robot has excellent locating and holding capabilities. The proposed system can track in real-time the subject’s head position and simultaneously maintain a constant contact force between the coil and the subject’s head so that it does not need to be restrained and thus ensure the accuracy of the stimulation result. Requirements for the robotic TMS system are proposed initially base on analysis of a serial of TMS experiments on real subjects. Both hardware and software design are addressed according to these requirements in this thesis. An optical tracking system is used in the system for guiding and tracking the motion of the robot and inadvertent small movements of the subject’s head. Two methods of coordinate system registration are developed base on DH and Tsai-lenz’s method, and it is found that DH method has an improved accuracy (RMS error is 0.55mm). In addition, the contact force is controlled using a Force/Torque sensor; and a combined position and force tracking controller is applied in the system. This combined controller incorporates the position tracking and conventional gain scheduling force control algorithms to monitor both position and force in real-time. These algorithms are verified through a series of experiments. And it is found that the maximum position and force error are 3mm and 5N respectively when the subject moves at a speed of 20mm/s. Although the performance still needs to be improved to achieve a better system, the robotic system has shown the significant advantage compared with the manual TMS system. Keywords—Transcranial Magnetic Stimulation, Robot arm, Medical system, Calibration, Tracking
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Blyth, William Alexander. "Robotic pipe inspection : system design, locomotion and control." Thesis, Imperial College London, 2017. http://hdl.handle.net/10044/1/62665.
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The structural integrity of an industrial plant is a key safety and economic consideration for operators in many sectors including: power generation, oil and gas and petrochemical. To ensure safe operation, the plant often undergoes scheduled inspection using Non-Destructive Testing (NDT) methods to detect, size and locate defects such as cracks in welds or corrosion, with the accuracy and repeatability of inspections being critical to monitoring defect growth. Considering the significant cost of plant downtime for inspection, there is an economic benefit to be gained by increasing the speed of inspections, alongside reducing access requirements. Robotic NDT aims to address some of these issues, with an increase in inspection speed, repeatability and accuracy, and the added potential to remove human operators from hazardous environments. Conventional mobile climbing robots are limited by their manoeuvrability, with lateral drift, gravitational effects and continuous motion being particular issues that remain challenging in the context of complex geometries. This thesis aims to investigate the potential for enhanced mobility in mobile climbing robots to precisely follow inspection paths on cylindrical surfaces in various orientations, without drift. This has been done through the development of a reduced actuation mecanum wheel platform, using magnetic adhesion and external position encoding, allowing full translational motion whilst using kinematic and geometric constraints to prevent rotation. Through dynamic modelling of the platform, a model based control structure has been synthesised, allowing for improved consistency of performance in all orientations. The platform has been applied to representative inspection paths and used to conduct ultrasonic inspection of test samples, with the capability to correct for lateral drift and cover large inspection areas, improving the inspection accuracy and area coverage over conventional systems, without requiring operator intervention.
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Eranki, Venkata Krishna Prashanth, and Gurudu Rishank Reddy. "Design and Structural Analysis of a Robotic Arm." Thesis, Blekinge Tekniska Högskola, Institutionen för maskinteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:bth-13834.
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Automation is creating revolution in the present industrial sector, as it reduces manpower and time of production. Our project mainly deals around the shearing operation, were the sheet is picked manually and placed on the belt for shearing which involves risk factor. Our challenge is designing of pick and place operator to carry the sheet from the stack and place it in the shearing machine for the feeding. We have gone through different research papers, articles and had observed the advanced technologies used in other industries for the similar operation. After related study we have achieved the design of a 3-jointed robotic arm were the base is fixed and the remaining joints move in vertical and horizontal directions. The end effector is also designed such that to lift the sheet we use suction cups were the sheet is uplifted with a certain pressure. Here we used Creo-Parametric for design and Autodesk-Inventor 2017 to simulate the designed model.
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Cardín, Catalán Daniel. "Design and evaluation of variable-stiffness robotic grippers." Doctoral thesis, Universitat Jaume I, 2022. http://dx.doi.org/10.6035/14101.2022.428051.
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In store warehouses, objects differ in terms of shape. During the automation process, reliable grasping is required, due to the variability of object shapes and positions. The main objective is to create and validate a gripper design. It should be able to adapt to objects, grasping them. This grasping should be harmless. To develop a gripper, distinct models are created. To improve the capabilities, an iterative approach is used. An initial gripper is created. Upgrades and refinements are carried out. Two models are compared using benchmarks. The best model is selected. The main result of this thesis is the creation of a variable-stiffness gripper capable of changing its stiffness at will. It contains a variable-stiffness core. Performance is improved. The gripper is capable of grasping delicate objects. A Utility Model is published for the gripper design. This model permits the patenting of this research and the potential industrialisation.Programa de Doctorat en Informàtica
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DePangher, Jeremy David. "Design and Implementation of Eight-Legged Robotic Transporter." DigitalCommons@CalPoly, 2013. https://digitalcommons.calpoly.edu/theses/1095.
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This thesis contains the design, manufacturing, and testing of a functional eight-legged robotic transporter based on the concept design laid out in U.S. Patent 7,246,671. The device is intended to achieve three different sequences of motion: regular driving, obstacle climbing, and stair climbing. The prototype was carried through concept design, analysis, selection of materials and components, manufacturing, software development, and final assembly and testing. The device can be assembled under multiple configurations, which harbor certain advantages and disadvantages. The results of the testing encourage the continuation of a second iteration of this concept.
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Rizano, Tizar. "Competitive Robotic Car: Sensing, Planning and Architecture Design." Doctoral thesis, Università degli studi di Trento, 2013. https://hdl.handle.net/11572/368842.
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Research towards a complete autonomous car has been pushed through by industries as it offers numerous advantages such as the improvement to traffic flow, vehicle and pedestrian safety, and car efficiency. One of the main challenges faced in this area is how to deal with different uncertainties perceived by the sensors on the current state of the car and the environment. An autonomous car needs to employ efficient planning algorithm that generates the vehicle trajectory based on the environmental sensing implemented in real-time. An complete motion planning algorithm is an algorithm that returns a valid solution if one exist in finite time and returns no path exist when none exist. The algorithm is optimal when it returns an optimal path based on some criteria. In this thesis we work on a special case of motion planning problem: to find an optimal trajectory for a robotic car in order to win a car race. We propose an efficient realtime vision based technique for localization and path reconstruction. For our purpose of winning a car race we identify a characterization of the alphabet of optimal maneuvers for the car, an optimal local planning strategy and an optimal graph-based global planning strategy with obstacle avoidance. We have also implemented the hardware and software of this approach on as a testbed of the planning strategy.
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Rizano, Tizar. "Competitive Robotic Car: Sensing, Planning and Architecture Design." Doctoral thesis, University of Trento, 2013. http://eprints-phd.biblio.unitn.it/997/1/thesis.pdf.
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Research towards a complete autonomous car has been pushed through by industries as it offers numerous advantages such as the improvement to traffic flow, vehicle and pedestrian safety, and car efficiency. One of the main challenges faced in this area is how to deal with different uncertainties perceived by the sensors on the current state of the car and the environment. An autonomous car needs to employ efficient planning algorithm that generates the vehicle trajectory based on the environmental sensing implemented in real-time. An complete motion planning algorithm is an algorithm that returns a valid solution if one exist in finite time and returns no path exist when none exist. The algorithm is optimal when it returns an optimal path based on some criteria. In this thesis we work on a special case of motion planning problem: to find an optimal trajectory for a robotic car in order to win a car race. We propose an efficient realtime vision based technique for localization and path reconstruction. For our purpose of winning a car race we identify a characterization of the alphabet of optimal maneuvers for the car, an optimal local planning strategy and an optimal graph-based global planning strategy with obstacle avoidance. We have also implemented the hardware and software of this approach on as a testbed of the planning strategy.
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Johns, Byron Edward. "Design and Control of a New Reconfigurable Robotic Mobility Platform." Thesis, Georgia Institute of Technology, 2007. http://hdl.handle.net/1853/14632.
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The development of a new family of robotic vehicles for use in the exploration of Mars and other remote planets is an ongoing process. Current rovers have to traverse rough terrain and be able to withstand various conditions on Mars. The goal of this project is to design a new Mars rover mobility system that performs to optimum capability. This project will involve the design and control of a robot that will use wheels, as well as legs, allowing the robot to reconfigure itself to adapt to its current environment and traverse various terrains. This new reconfigurable hybrid robotic vehicle, Byrobot (named after the student), will have a six-legged mobility design for walking. Each leg will have 3 degrees of freedom, controlled by 3 separate servos, for the movement of the legs. Byrobot will also have 4 wheels each directly attached to the shaft of a DC motor, for four-wheel differential drive. By having these two mobility systems, Byrobot will be able to operate in various environments, by capitalizing on the advantages of both legged and wheeled robots. The CAD designing for this new robot is done on Pro-Engineer, and mechanisms and animations will be run to test movement of parts. The actual robot hardware will then be constructed in the Georgia Tech MRDC machine shop. The control system for the robot will be run by the Eyebot, which uses a 25MHz 32bit Controller (Motorola 68332), as well as the SSC-32 Servo Controller from Lynxmotion. This new robotic mobility platform will facilitate future Mars exploration.
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Husar, Tomáš. "Návrh pracoviště pro obráběcí aplikace s robotem KUKA." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2017. http://www.nusl.cz/ntk/nusl-318745.
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The main task of this master thesis is design of robotic deburring workcell. The thesis informs about basic requests of object deburring using industrial robots. From layout variants, the one most suitable is picked. Chosen variant contains proper clamping solution as well as deburring tool and safety requirements. The concept design of robotic deburring cell in 3D visualization is the result of this diploma thesis.
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Ding, Jun. "Mechanism Design, Kinematics and Dynamics Analysis of a 7-Degree-Of-Freedom (DOF) Cable-Driven Humanoid Robot Arm." Ohio University / OhioLINK, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1299856503.
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Padmanabhan, Babu. "Design of a robotic manipulator using variable geometry trusses as joints." Thesis, Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/53240.
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Parallel robotic manipulators are generally believed to be stiffer under load and more precise than conventional serial manipulators. This is because of their closed loop construction which allows forces to be shared through multiple paths to the ground. Unfortunately, most proposed parallel manipulator designs have severe workspace restrictions. The introduction of Variable Geometry Trusses (VGT’s) represents an opportunity to overcome this limitation.
The lack of stiffness in many serial manipulators is primarily due to compliance at the joints. The disadvantage of the series connected device include limitations in lilting capacity and vibration problems. Difficulties of this sort result from the cantilever structure of the device. These factors often limit the degrees of freedom that can be provided in the serial configuration. By replacing the revolute joints with the ‘VGT joints’, it may be possible to add considerable rigidity at the joints and hence design a highly dextrous manipulator.
The objective of this thesis is to study the feasibility of a design of manipulators using Variable Geometry Trusses. A modeling scheme capable of solving the inverse problem in closed form and finding the range of all possible solutions for a planar VGT has been presented. Another aspect that has been dealt with is in utilizing the extra degree of freedom that becomes available in the proposed manipulator. Enhancing the performance of the manipulator by optimizing relevant parameters has been carried out for a demonstrative case involving a planar truss.Master of Science
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Schempf, Hagen. "Comparative design, modeling and control analysis of robotic transmissions." Thesis, Woods Hole, Mass. : Woods Hole Oceanographic Institution, 1990. http://catalog.hathitrust.org/api/volumes/oclc/23226727.html.
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Thesis (Ph. D.)--Woods Hole Oceanographic Institution and Massachusetts Institute of Technology, 1990.Funding was provided by the Office of Naval Research through Grant N00014-86-C-0038 and NRL through Grant N00014-88-K-2022. Bibliography : p. 339-360.
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Lum, Guo Zhan. "Optimal Design of Miniature Flexural and Soft Robotic Mechanisms." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1090.
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Compliant mechanisms are flexible structures that utilize elastic deformation to achieve their desired motions. Using this unique mode of actuation, the compliant mechanisms have two distinct advantages over traditional rigid machines: (1) They can create highly repeatable motions that are critical for many high precision applications. (2) Their high degrees-of-freedom motions have the potential to achieve mechanical functionalities that are beyond traditional machines, making them especially appealing for miniature robots that are currently limited to only having simple rigid-body-motions and gripping functionalities. Unfortunately, despite the potential of compliant mechanisms, there are still several key challenges that restrict them from realizing their full potential. To facilitate this discussion, we first divide the compliant mechanisms into two categories: (1) the stiffer flexural mechanisms that are ideal for high precision applications, and (2) the more compliant miniature soft robots that can reshape their geometries to achieve highly complex mechanical functionalities. The key limitation for existing flexural mechanisms is that their stiffness and dynamic properties cannot be optimized when they have multi-degrees-of-freedom. This limitation has severely crippled the performance of flexural mechanisms because their stiffness and dynamic properties dictate their workspace, transient responses and capabilities to reject disturbances. On the other hand, miniature soft robots that have overall dimensions smaller than 1 cm, are unable to achieve their full potential because existing works do not have a systematic approach to determine the required design and control signals for the robots to generate their desired time-varying shapes.
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Williams, Owen Ricardo. "Kinematics and design of robotic manipulators with complex architectures." Thesis, McGill University, 1989. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=61790.
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Ward, Derek Kempton. "Design of a two degree of freedom robotic finger." Thesis, University of Canterbury. Mechanical Engineering, 1996. http://hdl.handle.net/10092/6480.
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The design of mechanical hands has been investigated at many universities. Most of the hands produced by their research have large actuator packs which are usually heavy and located remotely from the hand. They are also complex to control
A number of robotic hand designs are reviewed and their shortcomings are discussed briefly. A feasibility study in 1993 at the University of Canterbury on a mechanically linked finger was used as the starting point for the design of a new finger - the Canterbury finger. Several combinations of electric drive motors, gearboxes, lead screws and mechanical linkages were examined before the final configuration was selected. The result is a human sized finger and hand capable of exerting a reasonable force at the finger tip, and able to curl through 180° in two distinct motions. While the dexterity typical of tendon operated fingers is retained, the new design avoids the elasticity and friction problems of tendon operated hands.
A single mechanically linked two degree-of-freedom (DOF) finger was designed, built and tested. The design and performance criteria were met, and the working finger provided insight into areas for improvement and future development. This thesis includes manufacturing drawings, test results, and basic control software for the Canterbury finger.
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Petropoulakis, L. "Design of digital trajectory tracking systems for robotic manipulators." Thesis, University of Salford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.384976.
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Shah, Vinay Kishore 1972. "Design and control of a nonlinearly compliant robotic finger." Thesis, Massachusetts Institute of Technology, 1997. http://hdl.handle.net/1721.1/43940.
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Fabio, Michael A. S. M. Massachusetts Institute of Technology. "The chandelier : an exploration in robotic musical instrument design." Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/39342.
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Thesis (S.M.)--Massachusetts Institute of Technology, School of Architecture and Planning, Program in Media Arts and Sciences, 2007.Includes bibliographical references (leaves 169-173).
This thesis presents several works involving robotic musical instruments. Robots have long been used in industry for performing repetitive tasks, or jobs requiring superhuman strength. However, more recently robots have found a niche as musical instruments. The works presented here attempt to address the musicality of these instruments, their use in various settings, and the relationship of a robotic instrument to its human player in terms of mapping and translating gesture to sound. The primary project, The Chandelier, addresses both hardware and software issues, and builds directly from experience with two other works, The Marshall Field's Flower Show and Jeux Deux. The Marshall Field's Flower Show is an installation for several novel musical instruments and controllers. Presented here is a controller and mapping system for a Yamaha Disklavier player piano that allows for real-time manipulation of musical variations on famous compositions. The work is presented in the context of the exhibit, but also discussed in terms of its underlying software and technology. Jeux Deux is a concerto for hyperpiano, orchestra, and live computer graphics.
(cont.) The software and mapping schema for this piece are presented in this thesis as a novel method for live interaction, in which a human player duets with a computer controlled player piano. Results are presented in the context of live performance. The Chandelier is the culmination of these past works, and presents a full-scale prototype of a new robotic instrument. This instrument explores design methodology, interaction, and the relationship-and disconnect-of a human player controlling a robotic instrument. The design of hardware and software, and some mapping schema are discussed and analyzed in terms of playability, musicality, and use in public installation and individual performance. Finally, a proof-of-concept laser harp is presented as a low-cost alternative musical controller. This controller is easily constructed from off-the-shelf parts. It is analyzed in terms of its sensing abilities and playability.
Michael A. Fabio.
S.M.
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Dean, David L. "Design of a robotic end-effector for automated bolting." Thesis, Massachusetts Institute of Technology, 1985. http://hdl.handle.net/1721.1/100065.
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Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1985.MICROFICHE COPY AVAILABLE IN ARCHIVES AND ENGINEERING
Bibliography: leaf 111.
by David L. Dean, Jr.
M.S.
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Farritor, Shane M. (Shane Michael). "On modular design and planning for field robotic systems." Thesis, Massachusetts Institute of Technology, 1998. http://hdl.handle.net/1721.1/9894.
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Kozma, Viktor. "Design of Modular Robotic Arms With High Model Fidelity." Thesis, KTH, Maskinkonstruktion (Inst.), 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-184603.
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Mechatronic systems, mechanical systems controlled by software embedded on electronics, are used everywhere today but designing such systems impose challenges as their complexity increases. With increasingly complex hardware the controlling electronics and their accompanied software can get to generalized for their intended use. In addition, the software also gets harder to design and test when the complexity of the hardware increases, necessitating the use of simulations. The goal of this thesis is designing a system going against this trend in the form of a robotic arm. The system developed contains both a physical design and a modeling library to allow for simulations. Both parts are modular, allowing the user to use the subsystems provided to assemble the systems for his/her intended use. The physical robotic arm is designed around modules, or subsystems, which the user can assemble in various ways and orders to form a robotic arm. The electronic interface designed as a distributed system makes it easy to add and control individual motorized joints fitted to the arm through a central data bus. To accompany this mechanical system, a simulation environment has been developed. This is a library developed in Modelyze, a host language encompassing a mathematical model builder and solver. The developed library contains objects whose mathematical models corresponds to the real world hardware that the user can assemble in a similar way and serves as simulation platform for the physical arm. After extracting the necessary parameters from the hardware tests were performed comparing the simulated responses with the real ones to ensure high fidelity of the model. The model exhibited fidelity when compared with data and various discrepancies could be explained by known limitations in Modelyze and the physical setup. The goal of the system is to serve as a research platform where, for instance, systems are designed in the model environment and implemented on the real system. Other implementations are possible thanks to the flexibility of the system.Mekatroniska system, mekaniska system styrda av inbyggda elektroniska system, finns överallt idag men utveckling av sådana system medför utmaningarnar när deras komplexitet växer. Med ökande komplex hårdvara kan den styrande elektroniken och mjukvaran bli för generaliserade för deras uppgift. Mjukvaran blir också svårare att utveckla och testa när hårdvarans komplexitet ökar, vilket nödvändiggör användadet av simuleringar. Målet med denna avhandling är att designa ett system som går mot denna trend i form av en robotarm. Det utvecklade systemet innehåller en fysisk design och ett modelleringsbibliotek som möjliggör simuleringar. Båda delar är modulära, vilket möjliggör för användaren att bygga ett system för hans/hennes behov. Den fysiska robotarmen är designad runt moduler som användaren kan sätta ihop på olika sätt för att bygga en robotarm. Det elektroniska gränssnittet är utformat som ett distribuerat system vilket gör det enkelt att lägga till och kontrollera motoriserade leder som finns på armen genom en central databuss. En simuleringmiljö har utvecklats tillsammans med det mekaniska systemet. Detta är utvecklat i Modelyze, ett värdspråk i vilket en matematisk modelleringsmiljö och simulerare är implementerat. Det utvecklade biblioteket innehåller objekt vars matematiska modeller motsvarar den fysiska hårdvaran som användaren kan bygga ihop på liknande sätt för att fungera som en simuleringsplatform. Efter att ha extraherat parametrar från hårdvaran utfördes tester för att jämföra simulerade resultat med riktiga tester for att säkerställa noggrannhet i modellen. Modellen uppvisade noggrannhet när den jämfördes med datan och eventuella felaktigheter kunde bli förklarade med begränsningar i Modelyze och the fysiska installationen. Målet med detta system är att det ska bli en forskningsplatform där, bland annat, system är designade i modelleringsmiljön innan de är implementerade på det riktiga systemet. Ytterligare implementationer är möjliga tack vare systemets flexibilitet.