Dissertationen: „Manipulator design“

1

Welge-Lüssen, Tobias Carsten Lutz. „Design of a passively actuated robot manipulator /“. Zürich : ETH, 2008. http://e-collection.ethbib.ethz.ch/show?type=diss&nr=17701.

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2

Shooter, Steven B. „Conceptual manipulator design for limited access workspaces“. Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-05092009-040612/.

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3

Johnson, Kevin Matthew. „Development of a statically balanced parallel platform manipulator“. Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/15947.

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4

Wilson, Thomas Rowe. „The design and construction of a flexible manipulator“. Thesis, Georgia Institute of Technology, 1986. http://hdl.handle.net/1853/17354.

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5

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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6

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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7

Sosa, Ognjen. „Design and implementation of a modular manipulator architecture“. [Gainesville, Fla.] : University of Florida, 2004. http://purl.fcla.edu/fcla/etd/UFE0008983.

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8

Grigg, Kenneth Edward Carleton University Dissertation Engineering Electrical. „Design of parallel software for adaptive manipulator control“. Ottawa, 1991.

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9

Roberts, Megan Johnson. „Design of small, low-cost, underwater fin manipulator“. Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/43014.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2008.
Includes bibliographical references (p. 28).
This thesis details the development of a small, low cost, underwater manipulator for use on the XAUV. At this time, there are no cheap underwater servos commercially available. The design involves modifying a commercially available servo so that it is waterproof and can provide the appropriate amount of torque. The manipulator is intended rotate the fins of the XAUV in order to enhance overall mobility and speed. The project includes a detailed design process resulting in a final design, which was built.
by Megan Johnson Roberts.
S.B.

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10

Haddad, F. B. „Design and performance of a position controlled manipulator“. Thesis, University of Sussex, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.370434.

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11

Arjunan, Shankar. „Design of a piezo-electric actuated micro-motion manipulator“. Diss., Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/19408.

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12

Vittor, Timothy R. Mechanical &amp Manufacturing Engineering Faculty of Engineering UNSW. „Modular decentralized control and design of a reconfigurable redundant manipulator“. Awarded by:University of New South Wales. Mechanical & Manufacturing Engineering, 2007. http://handle.unsw.edu.au/1959.4/40433.

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Soft automation employs multi-functional robotic manipulators where dexterity, versatility and reconfigurability are now becoming key issues. For manipulators used in these circumstances, hyper-redundancy in configuration is essential. A typical application envisaged, is manipulator movement in unpredictable surroundings such as navigation amongst branches and foliage in automated fruit picking. This requires motion of a manipulator in an unmapped dynamic environment to find its way to the goal i.e. the fruit. To date, centralized control architectures have proven impractical for the control of redundant systems because the full environment needs to be mapped, there are time constraints on the computation required and, simultaneously, algorithms for obstacle avoidance must be enacted. Decentralized control of manipulators complements modular construction because the need for a full environment reconstruction in one master controller is bypassed by having localized sub-goals for each module. Time constraints are removed because the control algorithms are much simpler. Obstacle avoidance is localized. Manipulators constructed modularly are effective because they allow for reconfiguration and ease of fault diagnosis. For modular manipulators to be a more effective option as a subclass of robots, the conditions under which the interactive movements of modules are stable become a major issue. When a general review of hyper-redundant manipulators was undertaken, no published implementation of Modular Decentralized Control (MDC) was discovered. This thesis explored the use of a modular decentralized technique to create stable control of a redundant manipulator system. The computational burden was minimized by restricting inverse kinematics to within each module. Advantages of the approach taken were the ease of implementation of obstacle avoidance, reconfigurability and fault tolerance. Having firstly simulated a MATLAB version of stable motion using MDC on a modular manipulator with up to six identical modules, the technique was extended with state space analysis to redefine the limits of stable control of a hyper-redundant manipulator. The MDC study mapped motion profile types that were dependant on the initial manipulator configuration and goal position and, thereby, investigated possible instabilities in the system. A two-link, single degree of freedom system was initially explicated followed by an extension of the stability analysis to an n-module two degree of freedom system. A stability theory utilizing decentralized control was formed. Simulation results showed dynamic motion, path generation and obstacle avoidance capabilities in unmapped environments to be stable. The modeling redefined the bounds of stable control, showing that classical stability via Root Locus, now required only two roots from the characteristic equation to be stable for a selection of path trajectory to the goal to be found. The remaining roots could be unstable in traversing to the goal and settling at a marginal stability point when the goal was reached. The marginal stability was a reflection of the pseudo-independence given to each module in seeking the goal and differed radically from a standard Root Locus analysis and interpretation of stability. A hyper-redundant Reconfigurable Modular Manipulator System (RMMS) was designed and built to implement the MDC technique in a real world environment. From an initial design, five modules were constructed and control algorithms embedded appropriate to their position in a five-segment robotic manipulator. A stereoscopic vision system was attached to the end of the manipulator which supplied real time data on a goal in 3D Cartesian space. The data was supplied to the first module of the arm and subsequently to all others by localized homogenous transformation. The manipulator was tested for goal seeking, path following, obstacle avoidance, fault tolerance and reconfigurability. The arm produced stable motion and satisfied the criteria as hypothesized in the theory.

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13

Eusebi, Andrea. „Design and Control of a Fast and Precise Aerial Manipulator“. Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020. http://amslaurea.unibo.it/21498/.

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This report describes the work involved during a six months project carried on at Autonomous Systems Lab of ETH Zurich. The goal of this project is to develop a fast and precise robotic manipulator for aerial interaction. The omnidirectional MAV from ASL researchers is the aerial platform on which the manipulator will have to be mounted. First stage of the project involves an intensive literature research aimed at identifying those ideas and solutions which could fit our project requirements. From this review, the 3 DOF Delta parallel manipulator has been selected: lightness, reduced moving mass, precision and stiffness are the main advantages of this robotic manipulator. Subsequently, an extensive work has been focused on the study of robot kinematics and dynamics. A non linear optimization problem has been formulated to solve the synthesis task of geometric parameters by means of a so called genetic algorithm. Most of Delta mechanical components have been designed using CAD software and machined by 3D printing technology, while just few elements have been obtained by third party suppliers. Finite element analysis has been exploited for mechanical validation. Also system control has been taken into account: an inverse kinematics-base approach has been developed aimed at compensating for aerial platform pose errors and thus maintain end-effector position to millimetric accuracy. Lastly, real field tests have been run to evaluate system performances, data have been collected and presented to show positive and negative aspects of the designed system. Final conclusions about possible future improvements is the last contribution provided by this work.

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14

Townsend, William T. (William Thomas). „The Effect of Transmission Design on Force-Controlled Manipulator Performance“. Thesis, Massachusetts Institute of Technology, 1988. http://hdl.handle.net/1721.1/6835.

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Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties such as contact compliance, actuator-to-joint compliance, torque ripple, and highly nonlinear dry friction in the transmission mechanisms of a manipulator. A set of requisites for high performance then guides the development of mechanical-design and servo strategies for improved performance. A single-degree-of-freedom transmission testbed was constructed that confirms the predicted effect of Coulomb friction on robustness; design and construction of a cable-driven, four-degree-of- freedom, "whole-arm" manipulator illustrates the recommended design strategies.

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15

Azad, A. K. M. „Analysis and design of control mechanisms for flexible manipulator systems“. Thesis, University of Sheffield, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.312307.

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16

GUEDES, JULIO QUADRIO DE MOURA. „DESIGN,SIMULATION AND DEVELOPMENT OF A TENDON DRIVE ROBOTIC MANIPULATOR“. PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2010. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=16582@1.

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PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO
Um novo conceito de manipulador esta sendo estudado com o intuito de realizar tarefas inviáveis para manipuladores tradicionais. Este modelo de manipulador se baseia em manipuladores contínuos. Eles apresentam uma estrutura similar a uma coluna vertebral, são altamente modulares, leves, podem ser atuados remotamente e possuem alto índice de adaptabilidade com o ambiente. Este tipo de manipulador apresenta características interessantes para utilização em diversos tipos de tarefas, principalmente em inspeções em locais com muitos obstáculos e ambientes inóspitos para os seres humanos. Esta dissertação apresenta o desenvolvimento de um protótipo de manipulador contínuo atuado remotamente por tendões. Ele possui estrutura modular formado por vértebras ligadas serialmente. Inicialmente projetado através de ferramentas computacionais para em seguida ser construído fisicamente. São apresentados estudos cinemáticos e simulações com comparações entre a parte teórica e experimental. Por fim, é desenvolvida uma situação para simular a atuação do manipulador em uma tarefa real.
A new concept of robotic manipulator is studied to perform tasks not viable for traditional manipulators. This new model is based on a continuum manipulator. It has a structure similar to a backbone, it is highly modular, lightweight, it can be remotely actuated, and it has a high level of adaptability to the environment. This type of manipulator has interesting features for uses in various types of tasks, especially in inspections in places with many obstacles and inhospitable to humans. This thesis presents the development of a remote tendon drive robotic continuum manipulator prototype. It has a modular structure composed of serially connected vertebrae. It is initially designed by computational tools, and then physically built. Kinematic studies and simulations are presented with comparisons between theoretical and experimental results. Finally, a situation is presented to simulate the performance of the manipulator in a real task.

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17

Montgomery, Robert H. (Robert Hall). „Design and analysis of a lightweight parallel cable-controlled manipulator“. Thesis, Massachusetts Institute of Technology, 1987. http://hdl.handle.net/1721.1/14687.

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18

Padmanabhan, Babu. „A study of isostatic framework with application to manipulator design“. Diss., Virginia Tech, 1992. http://hdl.handle.net/10919/29317.

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Isostatic frameworks are statically determinate trusses that are self contained (Le. they exist independent of support or foundation). Isostatic frameworks have been widely used as supporting structures, and recently they have been used as the structure for parallel manipulators. These truss-based manipulators could potentially solve the problems facing conventional manipulators and could make the design of high-degree-of-freedom manipulators feasible. The rigorous scientific study of isostatic frameworks and manipulators based on their structure has been limited. Recent developments in the design of large space structures and truss-based manipulators, however, demand rigorous design and mathematical tools. This dissertation provides a general theory for the design of structures based on frameworks and methods to analyze the kinematics of truss-based manipulators. The objective of the first part of this dissertation is to solve the problems of identification, generation and classification of isostatic frameworks in greater depth than in any past work in this area. Original methods are discussed for the enumeration and generation of isostatic frameworks. The first part also presents an original method to determine the geometry of general frameworks and an improved method to find the forces in their members. The determination of geometry and forces are critical areas in structural design. The second part of this dissertation presents a case study on one of the candidates for manipulator applications, the double-octahedral manipulator. The kinematic analyses of the double-octahedral manipulator includes methods to perform forward and inverse kinematic analysis, velocity and acceleration analysis, singularity analysis and workspace analysis. The closed-form solution to the inverse analysis presented herein is a major breakthrough in the development of the double-octahedral manipulator. Other analysis, such as velocity and acceleration, singularity, and workspace, depend on the inverse solution. It is believed that these solutions will help narrow the gap between theory and application of truss-based manipulators. The determination of singularities and works paces are application of recent ideas of other researchers. However, original implementations of these ideas have yielded astonishing results. The Jacobian and Hessian matrix presented in this dissertation should help in developing the control scheme for this device. C-Ianguage program codes for several of the methods are also provided. The methods have been tested based on the results obtained from these programs. The position analysis algorithms have also been tested on real hardware. Some of the methods developed here have been successfully employed for simulated and experimental vibration control studies.
Ph. D.

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19

Montgomery, Forrest. „Design and Control of a Planar Cable Suspended Parallel Manipulator“. Thesis, University of Louisiana at Lafayette, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10608124.

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Cable Suspended Parallel Manipulators represent an emerging field of study due to the complexities predicting their pose. Despite this issue, suspended cable manipulators possess several advantages over fully-constrained cable manipulators. These include, among others, ease of setup and fewer cables. The reduction in cables relieves excess force computation and likelihood of cable interference.

Two planar Cable Suspended Parallel Manipulator models were created. One has one end-effector connection point, a pendulum type

CSPM

, and the other has two connection points, a suspended plate type

CSPM

. The model's dynamic properties were explored to create system input commands that limited residual vibration. Simulations were run demonstrating the effectiveness of the control methods.

The simulations were verified using experimental data. The pendulum type

CSPM

experiments were performed on a small-scale

CSPM

setup, while the platform type

CSPM

experiments were performed on a full-scale bridge-inspecting robot. The control method created for both experiments proved to reduce the vibration opposed to no control method. The

CSPM

model was also used to create a cooperative input control method, which reduced the risetime of the control command, while still providing vibration reduction.

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20

Lee, Kam-fat Jonathan. „Design and control of a robotic manipulator with an active pneumatic balancing system /“. [Hong Kong] : University of Hong Kong, 1992. http://sunzi.lib.hku.hk/hkuto/record.jsp?B13194367.

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21

Prior, Stephen D. „Investigations into the design of a wheelchair-mounted rehabilitation robotic manipulator“. Thesis, Middlesex University, 1993. http://eprints.mdx.ac.uk/13377/.

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This research describes the steps towards the development of a low-cost wheelchair-mounted manipulator for use by the physically disabled and elderly. A detailed review of world rehabilitation robotics research has been conducted, covering fifty-six projects. This identified the main areas of research, their scope and results. From this review, a critical investigation of past and present wheelchair-mounted robotic arm projects was undertaken. This led to the formulation of the key design parameters in a final design specification. The results of a questionnaire survey of fifty electric wheelchair users is presented, which has for the first time established the needs and abilities of this disability group. An analysis of muscle type actuators, which mimic human muscle, is presented and their application to robotics, orthotics and prosthetics is given. A new type of rotary pneumatic muscle actuator, the flexator, is introduced and through extensive testing its performance characteristics elucidated. A review of direct-drive rotary pneumatic, hydraulic and electrical actuators has highlighted their relative performance characteristics and has rated their efficiency in terms of their peak torque to motor mass ratio, Tp/MM. From this, the flexator actuator has been shown to have a higher Tp/MM ratio than most conventional actuators. A novel kinematic arrangement is presented which combines the best features of the SCARA and vertically articulated industrial robot geometries, to form the 'Scariculated' arm design. The most appropriate actuator for each joint of this hybrid manipulator was selected, based on the criteria of high Tp/MM ratio, low cost, safety and compatibility. The final design incorporates conventional pneumatic linear double-acting cylinders, a vane type rotary actuator, two dual flexator actuators, and stepping motors for the fme control of the wrist/end effector. An ACSL simulation program has been developed which uses mass flow rate equations, based on one-dimensional compressible flow theory and suppressed critical pressure ratios, to simulate the dual flexator actuator. Theoretical and empirical data is compared and shows a high degree of correlation between results. Finally, the design and development work on two prototypes is discussed. The latest prototype consists of a five-axis manipulator whose pneumatic joints are driven by pulse width modulated solenoid valves. An 8051 microprocessor with proportional error feedback modilles the mark to space ratio of the PWM signal in proportion to the angular error of the joints. This enables control over individual joint speeds, reprogrammable memory locations and position monitoring of each joint. The integration of rehabilitation robotic manipulators into the daily lives of the physically disabled and elderly will significantly influence the role of personal rehabilitation in the next century.

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22

Yoon, Jun Young Ph D. Massachusetts Institute of Technology. „Design and testing of a high accuracy robotic single-cell manipulator“. Thesis, Massachusetts Institute of Technology, 2011. http://hdl.handle.net/1721.1/68574.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2011.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 137-139).
We have designed, built and tested a high accuracy robotic single-cell manipulator to be able to pick individual cells from array of microwells, each 30 Pm or 50 pm cubed. Design efforts have been made for higher accuracy, higher throughput, and compactness. The proposed system is designed to have a T-drive mechanism with two linear stages for XY-plane positioning to have higher stiffness and less structurally inherent error. Precision is especially required in Z-axis movement for successful cell-retrieval procedure and so a rotational mechanism with a voice coil actuator, among many options, is selected for the Z-axis motion because this results in relatively smaller reaction on the system and has advantages of direct drive. The prototype of the robotic single-cell picker integrates the Z-axis and XY stage motion, realtime microscopy imaging, and cell manipulation with a NI PXI-controller centered as a main real-time controller. This prototype is built to test performances of the proposed system in terms of single-cell retrieval and this thesis also discusses the experiments for the cell-retrieval process with microbeads of the equivalent size and the results as well. This proposed system will be used to help select and isolate an individual hybridoma from polyclonal mixture of cells producing various types of antibodies. It is important to be able to do this cell-retrieval task since a single isolated hybridoma cell produces monoclonal antibody that only recognizes specific antigens, and this monoclonal antibody can be used to develop cures and treatments for many diseases. Our research's development of accurate and dedicated mechatronics solution will contribute to more rapid and reliable investigation of cell properties. Such analysis techniques will act as catalyst for quicker discovery of treatments and vaccines on a wide range of diseases including HIV infection, tuberculosis, hepatitis C, and malaria with potential impact on the society.
by Jun Young Yoon.
S.M.

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23

Vallance, Robert Ryan. „Design and prototype fabrication of a manipulator for semiconductor test equipment“. Thesis, Massachusetts Institute of Technology, 1996. http://hdl.handle.net/1721.1/40216.

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24

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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25

Tidwell, Paul H. „Design and construction of a double-octahedral variable geometry truss manipulator“. Thesis, Virginia Polytechnic Institute and State University, 1989. http://hdl.handle.net/10919/74544.

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This thesis deals with the design and construction of a variable geometry truss (VGT) of the double-octahedral (pyramid-pyramid) geometry. The truss is expected to be the focus of several experimental research projects. In this thesis, a kinematic model is formulated, and the forward and inverse kinematic problems are solved. Issues of motor and instrumentation choices are addressed. Dimensional choices and the important problems of joint design are examined. A computer simulation is performed for force and vibration analysis. A fully collapsible double-octahedral variable geometry truss with three degrees of freedom was built using NC machining technologies. An improved second generation twenty-one degree-of-freedom truss will be built based on this original test article.
Master of Science

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26

Yang, Po-hua. „Design and control of bundles of binary actuators for manipulator actuation /“. The Ohio State University, 2001. http://rave.ohiolink.edu/etdc/view?acc_num=osu1486400446365734.

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27

Gilbank, Kevin. „Design and control of a three-DOF spherical tendon based manipulator“. Thesis, University of Ottawa (Canada), 2005. http://hdl.handle.net/10393/26911.

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Within robotics, areas such as locomotion, unmanned aerial vehicles (UAV's), machine vision, and dexterity of robots intensive research has been performed. In considering the dexterity of robots, work has been done for various types of robots. Also the robotic ability to manipulate or closely mimic the agility of humans has been extensively investigated. Humans are able to do a wide variety of tasks based on the complex series of joints at the wrists. The area of research into robotic wrists has however never attempted to emulate the human wrist. The wrist with its tendons, ligaments, and metacarpals allow three degrees of freedom (DOF's), and this would be extremely advantageous in many scenarios where robots are used. The goal of this thesis was to emulate the human wrist, by conceiving and designing a 3 DOF manipulator which could be easily attached to any robot arm or similar device. The end result of this thesis was to design an easy to implement 3 DOF spherical tendon based manipulator, complete with control system for which the approximate systems response would be known. At the conclusion of the work this was indeed the end result, and all lessons learned are enclosed herein.

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28

Smith, Alex. „Biomimetic manipulator control design for bimanual tasks in the natural environment“. Thesis, University of Plymouth, 2016. http://hdl.handle.net/10026.1/5337.

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As robots become more prolific in the human environment, it is important that safe operational procedures are introduced at the same time; typical robot control methods are often very stiff to maintain good positional tracking, but this makes contact (purposeful or accidental) with the robot dangerous. In addition, if robots are to work cooperatively with humans, natural interaction between agents will make tasks easier to perform with less effort and learning time. Stability of the robot is particularly important in this situation, especially as outside forces are likely to affect the manipulator when in a close working environment; for example, a user leaning on the arm, or task-related disturbance at the end-effector. Recent research has discovered the mechanisms of how humans adapt the applied force and impedance during tasks. Studies have been performed to apply this adaptation to robots, with promising results showing an improvement in tracking and effort reduction over other adaptive methods. The basic algorithm is straightforward to implement, and allows the robot to be compliant most of the time and only stiff when required by the task. This allows the robot to work in an environment close to humans, but also suggests that it could create a natural work interaction with a human. In addition, no force sensor is needed, which means the algorithm can be implemented on almost any robot. This work develops a stable control method for bimanual robot tasks, which could also be applied to robot-human interactive tasks. A dynamic model of the Baxter robot is created and verified, which is then used for controller simulations. The biomimetic control algorithm forms the basis of the controller, which is developed into a hybrid control system to improve both task-space and joint-space control when the manipulator is disturbed in the natural environment. Fuzzy systems are implemented to remove the need for repetitive and time consuming parameter tuning, and also allows the controller to actively improve performance during the task. Experimental simulations are performed, and demonstrate how the hybrid task/joint-space controller performs better than either of the component parts under the same conditions. The fuzzy tuning method is then applied to the hybrid controller, which is shown to slightly improve performance as well as automating the gain tuning process. In summary, a novel biomimetic hybrid controller is presented, with a fuzzy mechanism to avoid the gain tuning process, finalised with a demonstration of task-suitability in a bimanual-type situation.

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29

Zhao, Xing. „The design and control of uncertain manipulator arms with decoupled inertia matrix“. Diss., Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/12251.

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30

Johnson, Roger Warren. „Design and development of a three link in-parallel actuating prototype manipulator“. Thesis, Georgia Institute of Technology, 1988. http://hdl.handle.net/1853/15961.

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31

Coleman, Roy Scott. „Design of a robotic manipulator with an external common center of axes intersection“. Thesis, Georgia Institute of Technology, 1991. http://hdl.handle.net/1853/17682.

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32

李錦發 und Kam-fat Jonathan Lee. „Design and control of a robotic manipulator with an active pneumatic balancing system“. Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1992. http://hub.hku.hk/bib/B31210429.

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33

Lo, Ka Meng. „A novel design of underwater vehicle-manipulator systems for cleaning water pool“. Thesis, University of Macau, 2010. http://umaclib3.umac.mo/record=b2494142.

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34

Chan, Edmon. „Design and Implementation of a High Speed Cable-Based Planar Parallel Manipulator“. Thesis, University of Waterloo, 2005. http://hdl.handle.net/10012/835.

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Robotic automation has been the major driving force in modern industrial developments. High speed pick-and-place operations find their place in many manufacturing applications. The goal of this project is to develop a class of high speed robots that has a planar workspace. The presented robots are intended for pick-and-place applications that have a relatively large workspace. In order to achieve this goal, the robots must be both stiff and light. The design strategies adapted in this study were expanded from the research work by Prof Khajepour and Dr. Behzadipour. The fundamental principles are to utilize a parallel mechanism to enhance robot stiffness and cable construction to reduce moving inertia. A required condition for using cable construction is the ability to hold all cables under tension. This can only be achieved under certain conditions. The design phase of the study includes a static analysis on the robot manipulator that ensures certain mechanical components are always held under tension. This idea is extended to address dynamic situations where the manipulator velocity and acceleration are bounded. Two concept robot configurations, 2D-Deltabot, and 2D-Betabot are presented. Through a series of analyses from the robot inverse kinematic model, the dynamic properties of a robot can be computed in an effective manner. It was determined that the presented robots can achieve 4g acceleration and 4m/s maximum speed within their 700mm by 100mm workspace with a pair of 890W rotary actuators controlling two degrees of freedom. The 2D-Deltabot was chosen for prototype development. A kinematics calibration algorithm was developed to enhance the robot accuracy. Experimental test results had shown that the 2D-Deltabot was capable of running at 81 cycles per minute on a 730mm long pick-and-place path. Further experiments showed that the robot had a position accuracy of 0. 62mm and a position repeatability of 0. 15mm, despite a few manufacturing errors from the prototype fabrication.

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Qi, Gang 1971. „Optimal design of a lightweight robotic manipulator using carbon fibre-reinforced composites“. Thesis, McGill University, 2004. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=82626.

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One of the most attractive applications of composite materials is in robot industry. The reason lies in the fact that lightweight composite materials with excellent performance can dramatically overcome the tricky conflict of simultaneously achieving high end-effector positional accuracy and high link acceleration. This thesis describes the process of analysis and redesign of an anthropomorphic parallel robotic manipulator using graphite/epoxy fiber reinforced composites, which exhibit high stiffness-to-weight ratio and strength-to-weight ratio as well as good damping properties. From the structural viewpoint, by means of finite element analysis, the research into the composite robot arms covers the following aspects: redesign and shape optimization of the robot arms using shell structures; optimizing stacking sequence and fiber orientations for composite laminates; incorporating metal inserts into composite structures to improve local stress concentrations and modal analysis to ensure the high dynamic characteristics of the newly developed structures. Comparing with the original design using metal links, the improved composite counterpart significantly increased the stiffness of the robot arm while decreasing their mass and inertia to achieve a very high specific stiffness, specific strength and excellent dynamic performance.

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Parkhurst, William T. „Design of a superelastic alloy actuator for a minimally invasive surgical manipulator“. Thesis, Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1994. http://handle.dtic.mil/100.2/ADA294440.

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37

Ray, Jerry DeWane. „Design of an articulated manipulator for enhanced dexterity in minimally invasive surgery /“. Monterey, Calif. : Springfield, Va. : Naval Postgraduate School ; Available from National Technical Information Service, 1996. http://handle.dtic.mil/100.2/ADA322192.

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Thesis (M.S. in Mechanical Engineering) Naval Postgraduate School, September 1996.
Thesis advisor(s): Ranjan Mukherjee. "September 1996." Includes bibliographical references (p. 51). Also available online.

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Oikawa, Stephen Oliver. „Design and construction of a four-bay variable-geometry-truss manipulator arm“. Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1995. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/MQ45463.pdf.

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39

Ray, Jerry DeWane II. „Design of an articulated manipulator for enhanced dexterity in minimally invasive surgery“. Thesis, Monterey, California. Naval Postgraduate School, 1996. http://hdl.handle.net/10945/8230.

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Approved for public release; distribution is unlimited.
A current limitation in minimally invasive surgical (MIS) procedures is the lack of an articulated mechanism which will provide dexterity inside the torso while supporting a surgical tool. The tool could be a pair of scissors or an optical device such as a camera, or both. To overcome this limitation we have designed an Articulated Manipulator for Minimally Invasive Surgery (AMMIS). The AMMIS is expected to provide surgeons with improved dexterity during MIS procedures and be ideally suited for tele-surgery. This design may also be used in non-medical applications such as aviation maintenance, and engine inspection.

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Schafer, David C. S. B. Massachusetts Institute of Technology. „Design and control of a planar two-link manipulator for educational use“. Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/54509.

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Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. [19]).
This paper proposes a new robotic planar two-link manipulator design for educational use. Planar two-link manipulators are among the most accessible two-degree-of-freedom robots for students because they function like human arms. As a result they are ideal for laboratory teaching environments. While previous designs using belt-driven arms served adequately, this new design possesses a number of features that were not possible with the previous design, including more intuitive simplified dynamics, an expanded workspace allowing multiple full rotations, and the ability to be easily reconfigured into an acrobot (an underactuated double-pendulum which can be stabilized in a vertical configuration while being actuated only at the middle joint). The governing equations of the system are derived and an analysis of velocity control in the xy plane is perform and a control methodology is also presented by which the arm can be stabilized vertically while in its acrobot configuration. A Discussion of tradeoffs relevant to the future design of similar systems is also presented.
by David C. Schafer.
S.B.

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41

Fong, Terrence W. „Design and testing of a Stewart Platform Augmented Manipulator for space applications“. Thesis, Massachusetts Institute of Technology, 1990. http://hdl.handle.net/1721.1/43002.

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42

Reedman, Adam Victor Creyke. „The design and control of a manipulator for safety-critical deployment applications“. Thesis, Loughborough University, 2002. https://dspace.lboro.ac.uk/2134/33736.

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Development of manipulators that interact closely with humans has been a focus of research in fields such as robot-assisted surgery The recent introduction of powered surgical-assistant devices into the operating theatre has meant that modified industrial robot manipulators have been required to interact with both patient and surgeon Some of these robots require the surgeon to grasp the end-effector and apply a force while the joint actuators provide resistance to motion In the operating theatre, the use of high-powered mechanisms to perform these tasks could compromise the safety of the patient, surgeon and operating room staff. In this investigation, a two degrees-of-freedom (2-DoF) manipulator is designed for the purpose of following a pre-defined path under the direct control of the surgeon.

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Romero, Ignacio. „Dynamic analysis and control system design of a deployable space robotic manipulator“. Thesis, Cranfield University, 2001. http://dspace.lib.cranfield.ac.uk/handle/1826/13328.

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This thesis presents a dynamic analysis and a control system for a flexible space manipulator, the Deployable Robotic Manipulator or DRM, which has a deployable/retractable link. The link extends (or retracts) from the containing slewing link of the manipulator to change the DRM's length and hence its workspace. This makes the system dynamics time varying and therefore any control strategy has to adapt to this fact. The aim of the control system developed is to slew the manipulator through a predetermined angle given a maximum angular acceleration, to reduce flexural vibrations of the manipulator and to have a certain degree of robustness, all of this while carrying a payload and while the length of the manipulator is changing. The control system consists of a slewing motor that rotates the manipulator using the open-loop assumed torque method and two reaction wheel actuators, one at the base and one at the tip of the manipulator, which are driven by a closed-loop damping control law. Two closed-loop control laws are developed, a linear control law and a Lyapunov based control law. The linear control law is based on collocated output feedback. The Lyapunov control law is developed for each of the actuators using Lyapunov stability theory to produce vibration control that can achieve the objectives stated above for different payloads, while the manipulator is rotating and deploying or retracting. The response of the system is investigated by computer simulation for two-dimensional vibrations of the deployable manipulator. Both the linear and Lyapunov based feedback control laws are found to eliminate vibrations for a range of payloads, and to increase the robustness of the slewing mechanism to deal with uncertain payload characteristics.

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Sakai, Satoru. „Design and Evaluation of a Heavy Material Handling Manipulator for Agricultural Robots“. Kyoto University, 2003. http://hdl.handle.net/2433/149010.

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Kyoto University (京都大学)
0048
新制・課程博士
博士(農学)
甲第10287号
農博第1359号
新制||農||870(附属図書館)
学位論文||H15||N3808(農学部図書室)
UT51-2003-H708
京都大学大学院農学研究科地域環境科学専攻
(主査)教授梅田幹雄, 教授笈田昭, 助教授大須賀公一
学位規則第4条第1項該当

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Lanteigne, Eric. „Design of a composite SMA actuator for a pressurized hyper-redundant manipulator“. Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27383.

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Hyper-redundant devices are characterized by repeating independently controlled structures connected in series, much like the architecture of a snake or worm. This thesis evaluates the performance of a pressurized hyper-redundant manipulator design driven by high strain shape memory alloy actuators. The proposed design is composed of four identical modules; each providing three degrees of freedom from three symmetrically positioned actuators. The modules have an outer diameter of 31mm and a length of 33mm at full extension. The actuator return force and manipulator stiffness are controlled by an air pump connected at the base. Although connection failures between the actuator tabs and vertebrae prevented the validation of the hyper-redundant manipulator prototype, the unit module element was successfully fabricated and evaluated. The unit module could achieve linear contractions of 40% and rotations of over 50° at a frequency of 0.05Hz. Several limitations remain to be addressed in order to build a reliable device; these include: (1) The high current requirement of the actuators, (2) The inefficient actuation system, and (3) The connectivity issues between the actuators and the modules.

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Joshi, Atul Ravindra. „Design and control of a three degree-of-freedom planar parallel robot“. Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175180058.

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47

HONG, KHONG ZHEN, und 官振宏. „Manipulator application fixture design and analysis“. Thesis, 2017. http://ndltd.ncl.edu.tw/handle/vechg6.

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碩士
國立勤益科技大學
機械工程系
105
Arm the most important component is the arm of automated machinery and equipment must conform to product requirements match important clamping jaw and the like to run the entire process. Taking into account the mechanical arm is only one clamping jaw or welding and other features of this problem is the most important issue. This research will optimize the machinery arm of automated machinery and equipment, and designed as a multifunctional application for the object of study, emphasizing their own customized design and create all the different styles and characteristics of the product, as a basis for the design of improvement and innovation. First reference in the study of every manufacturer's mechanical arm head disc size and assemble the disc screw holes locations, using human-like the Palm of the concept, and the idea of combining design can be fitted to the design of mechanical fixture features. Overall design parts contains, manipulator subject, and pressure cylinder combination, and gear and axis Rod combination, and planet gear group, and Rod and fixture, completed manipulator and fixture of effect, and using drawing software SolidWorks draws entity structure and stress analysis, discussion overall parts by design prevention dry involved function applied, and analysis gear by bear pressure cylinder of by force effect, improved gear institutions due enough of stress strength. Final study results show that the main manipulator for the arc is easy to install and control the operations effectively, saves space, and simple profiles. Gear shaft and design of the overall application can prevent loose gear rotates with the shaft. This design out of the three functions of the fixture using the manipulator and manipulator three fixture is powered by pneumatic cylinders drive the gear combination fixture scalable application 0︒ to 180︒ of the swing operation, in accordance with the applications take advantage of one to three fixtures to complete each task. The methods and results of this Institute can provide machinery industry as well as high quality, as the basis of innovative design.

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HUNG, MIN-WEI, und 洪敏偉. „Design and Research of Underwater Manipulator“. Thesis, 2006. http://ndltd.ncl.edu.tw/handle/15523321268113207216.

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碩士
國立中山大學
機械與機電工程學系研究所
94
The goal of this thesis is to design and fabricate a four degrees freedom underwater manipulator for small to midsize remotely operated vehicles. DC servo motors were used to actuate the manipulator joints such that the size and the necessary auxiliary components can be reduced. In terms of hardware design process, the selection of servo motors and their arrangement is the key to the overall performance of the manipulator. The design of any joint, including its location and fixture to the frame, is coupled with that of the neighboring joints such that the design itself is an iterative process. Proper choice of the torque and power of an actuator not only reduces its size but also ease the loading the joints proximal to the base. In this project, the water resistance between stationary and rotary interfaces are achieved by O-ring and mechanical seals respectively. A gripper, synthesized and analyzed with kinematic chain theory, was implemented with a single degree freedom six-bar linkage as the end-effector of the manipulator. Because the robot is designated to operate in underwater environment, the dynamics of the system is relative slow and insignificant. Therefore, the only the linearized kinematics of the manipulator is concerned, and the motion controller is implemented with Jacobian in Visual Basic. Under 50 Hz servo rate, gravity compensation is added for operation in the air, and in the water as well. For the operating speed limited to 20 mm/sec, the overall positioning error is confined to be less than 1 mm for all time.

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Li, Chengchi, und 李政其. „EZCam: WYSWYG Camera Manipulator for Path Design“. Thesis, 2016. http://ndltd.ncl.edu.tw/handle/2sb5dc.

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碩士
國立臺灣科技大學
資訊工程系
105
With advance in movie industry, composite interactions and complex visual effects require to shoot at the designed part of a scene for immersion. Traditionally, the director of photography (DP) plans a camera path by recursively reviewing and commenting path-planning rendered results. Since the adjust-render-review process is not immediate and interactive, mis-communications happen to make the process ineffective and time consuming. Therefore, this work proposes a What-You-See-What-You-Get camera path reviewing system for the director to interactively instruct and design camera paths. Our system consists of a camera handle, a parameter control board, and a camera tracking box with mutually perpendicular marker planes. When manipulating the handle, the attached camera captures markers on visible planes with selected parameters to adjust the world rendering view. The director can directly examine results to give immediate comments and feedbacks on transformation and parameter adjustment in order to achieve effective communication and reduce the reviewing time. Finally, we conduct a set of qualitative and quantitative evaluations to show that our system is robust and efficient and can provide means to give interactive and immediate instructions for effective communication and efficiency enhancement during path design.

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Huang, Chao-yu, und 黃兆羽. „Design of an Underwater Vehicle Sampling Manipulator“. Thesis, 2009. http://ndltd.ncl.edu.tw/handle/bdc9x8.

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碩士
國立中山大學
海下科技暨應用海洋物理研究所
97
To expand the ability of collecting underwater targets of "Remotely Operated Vehicle II", developed by National Sun Yat-sen University and National Cheng Kung University, this research will develop an underwater manipulator system which can be integrated with ROV II to have enough degrees of freedom to carry out sampling. The goal will focus on mechanism design and to distinguish the assemble restrictions from other mechanism modules. To avoid use of hydraulic pressure apparatus, the manipulator system will use electric motors as the source of drive, which feeds on ROV II''s electricity. In mechanical design, water tightness of underwater manipulator system is first considered to avoid damage of internal electric components. Therefore, in this research, suitable waterproof components will be selected separately for static and dynamic machine parts, and dimension and tolerance of assembly of waterproof components will be analyzed. Then, according to decided design conditions, the number of degrees of freedom of the manipulator and range of length of the arm will be decided. The final design model will be constructed, and selection of motors will be finished by 3D Computer Aided Solid Drawing Software. To have a manipulator system which can deal with different targets, the gripper design needs to consider to easily replacement. In the aspect of systematic control, commercial motor control card and motor driver chip are used to carry out the structure of the entire control system, and develop control interface by C language to easily control each joint of the manipulator system.

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Dissertationen zum Thema „Manipulator design“

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