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Hillman, Michael Raymond. "Design and development of a robotic workstation for the disabled." Thesis, University of Bath, 1992. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.305145.
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McCaffrey, Edward Jacob. "Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms." [Tampa, Fla.] : University of South Florida, 2003. http://purl.fcla.edu/fcla/etd/SFE0000195.
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Batsios, Nicholas. "Design and construction of a multi-segment snake-like wheeled vehicle." Ohio : Ohio University, 1997. http://www.ohiolink.edu/etd/view.cgi?ohiou1177610642.
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Pátek, Václav. "Návrh robotického pracoviště pro laserové značení automotive komponent." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2021. http://www.nusl.cz/ntk/nusl-444303.
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This diploma thesis is focused on the design of a robotic workstation for laser marking of aluminium hinges for the automotive industry. Robots remove wheel hinges from palettes at the end of a preassembly line, mark them a sort them. At first, selected marking technologies used in the automotive industry are introduced. Afterwards, a few robot and process simulation software are described. Subsequently, several layout variants are created as viable options for process handling and the chosen variant is designed in detail. Using RobotStudio software, a simulation of the robotic marking cell is made for process verification. Finally, a technical - economic evaluation is performed.
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Thong, Woon Kong. "The calibration of a robotic workstation /." Thesis, McGill University, 1986. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=65344.
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Gosine, Raymond Gerard. "An interactive robotic workstation for applications in rehabilitation." Thesis, University of Cambridge, 1989. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.334039.
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Azamfirei, Victor. "A visualization approach for improved interpretation and evaluation of assembly line balancing solutions." Thesis, Högskolan i Skövde, Institutionen för ingenjörsvetenskap, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:his:diva-16249.
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Future manufacturing will be characterized by the complementarity between humans and automation (human-robot collaboration). This requires new methods and tools for the design and operation of optimized manufacturing workplaces in terms of ergonomics, safety, efficiency, complexity management and work satisfaction. There have been some efforts in the recent years to propose a tool for determining optimal human-automation levels for load balancing. Although the topic is quite new, it shares some similarities with some of the existing research in the area of robotic assembly line balancing. Therefore, it is crucial to review the existing literature and find the most similar models and methods to facilitate the development of new optimization models and algorithms. One of the two contributions that this thesis gives to the research world in the RALBP context is a literature review that involves high quality articles from 1993 to beginning 2018. This literature review includes visual and comprehensive tables—and a label system— where previous research patterns and trends are highlighted. Visualization of data and results obtained by assembly line optimization tools is a very important topic that has rarely been studied. Data visualization would provide a: 1. better comprehension of patterns, trends and qualitative data 2. more constructive information absorption 3. better visualization of relationships and patterns between operations, and 4. better contribution to data manipulation and interaction. The second contribution to research found in this thesis is the use of a human modelling (DHM) tool (called IPS), which is proposed as an assessment to the ergonomic risk that a robotic assembly line may involve. This kind of studies are necessary in order to reduce one of the most frequent reasons of work absence in our today society i.e. musculoskeletal disorders (MSDs). MSDs are often the result of poor work environments and they lead to reduced productivity and quality losses at companies. In view of the above, IPS was used in order to resolve the load handling problem between human and robot, depending on their skills and availability, while fulfilling essential ISO standards i.e. 15066 and 10218:1 and :2. The literature review made it possible to select highly useful documents in developing assumptions for the experiment and contributed to consider real features detected in the industry. Results show that even though IPS is not capable of calculating an entire robotic assembly with human-robot collaboration, it is able to simulate a workstation constituted of one robot and one human. Finite and assembly motions for both human and robot are expected to be implemented in future versions of the software. Finally, the main advantages of using DHM tools in assessing ergonomic risks in RALB can be extracted from the results of this thesis. This advantages include 1. ergonomic evaluation for assembly motions 2. ergonomic evaluation for a full working day (available in future version) and 3. essential ISO standard testing (available in future version).
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Jiménez, Sánchez Juan Luis. "Lua Programming in HRC Workstation Design." Thesis, KTH, Industriell produktion, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-246320.
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Close collaboration between human operators and industrial robots is one approach to meet thechallenges of increased global competition and demographic change for manufacturingcompanies in the developed countries. These human-industrial robot collaborative (HRC)assembly systems combine human flexibility, intelligence and tactile sense with robotic speed, endurance and repeatability. However, current personal safety legislation limits the possible collaborative applications that could be implemented in practice, but large research efforts areput in order to enable practical implementation of these future workstations. When the limitations of safety legislation are addressed, and the collaborative systems can beimplemented, a need to simulate these systems will rise. Virtual simulations are an importantcomponent in modern production system design and will be demanded in future assembly workstation design. A new existing software is in development that can simulate, visualise and evaluate HRC assembly workstations. The general goal with the simulation software is to design“optimal” workstations, and they enable evaluations of multiple design alternatives to reach this “optimum”. The creation of these design alternatives is challenging today as it demands a lot ofmanual work. The aim of this thesis is to tackle this issue by contributing to the development andimprovement of the simulation software through the programming of scripts in the Lua language. The scripts were developed through an iterative and trial-and-error process, combined with first-hand experience of the author in the usage of the software. The resulting scripts enable the user to perform simulations in a swift, efficient, automated and simplified way in comparison to the traditional method, reducing the need of manual work to a minimum. A large amount of simulations can be performed in a short amount of time, even without the need of human interaction. In addition, with the results of the simulations as a base, mathematical optimisation techniques have been employed in order to find the optimal HRC design of a case study station. The case study has been conducted at a workstation in a heavy vehicle manufacturer. The results of the case highlight the improvements made to the software by the scripts and how these can be used to efficiently design the HRC workstations of the future.Ett nära samarbete mellan mänskliga operatörer och industrirobotar är ett sätt att mötautmaningarna av ökad global konkurrens och demografiska förändringar för tillverkningsföretagi de utvecklade länderna. Dessa sammansättningssystem för humant industrirobotar (HRC) kombinerar mänsklig flexibilitet, intelligens och taktil känsla med robothastighet, uthållighet och repeterbarhet. Den nuvarande personliga säkerhetslagstiftningen begränsar emellertid de möjliga samarbetsansökningarna som kan genomföras i praktiken, men stora forskningsinsatser görs för att möjliggöra ett praktiskt genomförande av dessa framtida arbetsstationer. När begränsningarna i säkerhetslagstiftningen tas upp, och samarbetssystemen kan genomföras, kommer ett behov att simulera dessa system stiga. Virtuella simuleringar är en viktig komponent i modern produktionssystemdesign och kommer att krävas i framtida montagearbetsstationdesign. En ny befintlig programvara är i utveckling som kan simulera, visualisera och utvärdera HRC-arbetsstationer. Det övergripande målet med simuleringsprogrammet är att designa"optimala" arbetsstationer, och de möjliggör utvärderingar av flera designalternativ för att nå denna "optimala". Skapandet av dessa designalternativ är utmanande idag eftersom det krävermycket manuellt arbete. Syftet med denna avhandling är att ta itu med denna fråga genom att bidra till utvecklingen och förbättringen av simuleringsprogramvaran genom programmering av skript i Lua-språket. Skripten utvecklades genom en iterativ och trial-and-error-process, kombinerad med författarens förstahandsupplevelse i användningen av programvaran. De resulterande skriptna möjliggör för användaren att utföra simuleringar på ett snabbt, effektivt, automatiserat och förenklat sätt jämfört med den traditionella metoden, vilket minskar behovet av manuellt arbete till ett minimum. En stor mängd simuleringar kan utföras på kort tid, även utan att det behövs mänsklig interaktion. Dessutom, med resultaten av simuleringarna som bas, har matematiska optimeringstekniker använts för att hitta den optimala HRC-designen hos en fallstudiestation. Fallstudien har genomförts på en arbetsstation i en tung fordonstillverkare. Resultatet av ärendet framhäver de förbättringar som gjorts av programvaran av skripten och hur dessa kan användas för att effektivt utforma framtida HRC-arbetsstationer.
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Rochlis, Jennifer Lisa. "Human factors and telerobotics : tools and approaches for designing remote robotic workstation displays." Thesis, Massachusetts Institute of Technology, 2001. http://hdl.handle.net/1721.1/8109.
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Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, February 2002.Includes bibliographical references (v. 2, leaves 297-300).
A methodology is created for designing and testing an intuitive synthesized telerobotic workstation display configuration for controlling a high degree of freedom dexterous manipulator for use on the International Space Station. With the construction and maintenance of the International Space Station, the number of Extravehicular Activity (EVA) hours is expected to increase by a factor of four over the current Space Shuttle missions, resulting in higher demands on the EVA crewmembers and EVA crew systems. One approach to utilizing EVA resources more effectively while increasing crew safety and efficiency is to perform routine and high-risk EVA tasks telerobotically. NASA's Johnson Space Center is developing the state-of-the-art dexterous robotic manipulator. An anthropomorphic telerobot called Robonaut is being constructed that is capable of performing all of the tasks required of an EVA suited crewmember. Robonaut is comparable in size to a suited crewmember and consists of two 7 DOF arms, two 12 DOF hands, a 6+ DOF "stinger tail", and a 2+ DOF stereo camera platform. Current robotic workstations are insufficient for controlling highly dexterous manipulators, which require full immersion operator telepresence. The Robonaut workstation must be designed to allow an operator to intuitively control numerous degrees of freedom simultaneously, in varying levels of supervisory control and for all types of EVA tasks. This effort critically reviewed previous research into areas including telerobotic interfaces, human-machine interactions, microgravity physiology, supervisory control, force feedback, virtual reality, and manual control.
(cont.) A methodology is developed for designing and evaluating integrated interfaces for highly dexterous and multi-functional telerobots. In addition a classification of telerobotic tasks is proposed. Experiments were conducted with subjects performing EVA tasks with Space Station hardware using Robonaut and a Robonaut simulation (also under development). Results indicate that Robonaut simulation subject performance matches Robonaut performance. The simulation can be used for training operators for full-immersion teleoperation and for developing and evaluating future telerobotic workstations. A baseline amount of Situation Awareness time was determined and reduced using the display design iteration.
by Jennifer Lisa Rochlis.
Ph.D.
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Axelsson, Mikael, David Joelsson, and Karl Åkman. "NEOS Office Workstation 2007 : Daifukudesigns, Barcelona." Thesis, Karlstad University, Faculty of Technology and Science, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:kau:diva-1351.
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The project consisted of developing an office workstation specially designed to compete at the Spanish market. The assignment was received from the Daifuku Designs, a design company in Barcelona, Spain. Daifuku Designs are well experienced in various kinds of product and interior design, but has not designed office furniture earlier. The project’s purpose was to introduce the company to the branch of office furniture.
The research phase consisted in three different parts, a survey concerning office work that was handed out to Swedish and Spanish office workers and cleaning staff, studies of the world leading companies in the branch of office furniture and educational visits at different showrooms and offices.
The project resulted in a desk that is offering a flexible space dividing system and a unique cord solution. The space dividers can be put anywhere along the desktop and are easily moved by hand. All the cords and cables are hidden in the desk and computers, phones, e.g. can be installed anywhere on the desk. The desk can be used both separately and in big office landscape. Flexibility is a common sales argument and the demand of this kind of flexibility is constantly growing. The trends to hire personnel and to work in temporary project groups are two reasons to the growing demand. The office furniture needs to be able to be used in different ways when the constellation of the project group is changing. It is a big advantage if the same desks can be used for different occasions.
Projektet bestod av att utveckla ett kontorsskrivbord, designat för att marknadsföras på den spanska marknaden. Uppdragsgivare var Daifuku Designs, ett designföretag i Barcelona, Spanien. Daifuku Designs har stor erfarenhet i olika sorters produkt- och inredningsdesign men har ej designat kontorsmöbler tidigare. Projektets syfte var att introducera företaget på kontorsmöbelmarknaden.
Researchfasen bestod av tre olika delar, en enkät om kontorsarbete som gavs ut till svenska och spanska kontorsarbetare samt städpersonal, studier av världsledande företag inom kontorsmöbelindustrin samt studiebesök på olika showrooms och kontor.
Projektet resulterade i ett skrivbord som erbjuder ett flexibelt avskärmningssystem samt en unik sladdlösning. Avskärmningarna kan sättas vart som helst längs skrivbordet samt kan lätt flyttas för hand. Alla sladdar och kabeldosor är gömda i skrivbordet och datorer, telefoner, etc. kan installeras vartsomhelst på skrivbordet. Skrivbordet kan användas separat så väl som i ett större kontorslandskap. Flexibilitet är ett vanligt säljargument, behovet av denna typ av flexibilitet växer hela tiden. Trenden att hyra in personal samt att jobba i projektgrupper är två anledningar till det växande behovet. Kontorsmöbeln måste kunna användas i många olika grupperingar när konstellationen i projektgruppen förändras. Det är en stor fördel om skrivbordet kan användas för många olika tillfällen.
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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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Mahoney, Russell. "Design of a mobile workstation for value stream mapping." Connect to resource, 2006. http://hdl.handle.net/1811/6464.
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Thesis (Honors)--Ohio State University, 2006.Title from first page of PDF file. Document formatted into pages: contains ii, 69 p.; also includes graphics. Includes bibliographical references (p. 41) Available online via Ohio State University's Knowledge Bank.
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Ricketts, D. M. "Computer aided molecular design using a single user workstation." Thesis, University of Oxford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.375319.
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Flodin, Alexander, and Johan Olsson. "Autostereoscopic 3D Demo Workstation Industrial Design and Mechanical Construction." Thesis, KTH, Maskinkonstruktion (Inst.), 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-145042.
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Setred är ett Europeiskt teknikinnovationsbolag som har utvecklat en 3D-displayteknik som inte kräver glasögon eller headtrackingutrustning. Teknologin har blivit integrerad i en autostereoskopisk 3D-arbetsstation vid namn Clariti som har tagits fram specifikt för medicinsk användning inom kirurgi och kirurgisk planering. I sitt ursprungliga utförande är arbetsstationen ganska stor och tung. Detta är inte ett hinder när den väl är på plats på sjukhuset där produkten är tänkt att användas, men utgör ett stort problem för säljarna på företaget vars främsta uppgift är att åka runt och presentera arbetsstationen för potentiella kunder. Ett examensarbete har därför utförts på Kungliga Tekniska Högskolan (KTH) i Stockholm, för att utveckla en demoversion av arbetsstationen Clariti. Huvudsyftet med demo-arbetsstationen är att förenkla transporten av enheten för säljteamet på Setred och samtidigt kunna demonstrera funktionaliteten hos Clariti på ett tillfredsställande sätt.Uppgiften utfördes av två studenter på inriktningen industriell design på KTH i tätt samarbete med företagsrepresentanter från Setred. Projektet pågick under 20 veckor med arbete på heltid mellan januari och juni 2012. Huvudsakligen utfördes arbetet på Setreds kontor i Stockholm.Projektet följde en fördefinierad produktutvecklingsprocess som började med en litteraturstudie och gick vidare med en problemundersökning med hjälp av semistrukturerade intervjuer, fokusgrupper och kundresor. När problemen med den ursprungliga designen hade blivit identifierade togs flera koncept för en demo-arbetsstation fram i form av skisser och enkla 3D renderingar och presenterades för representanter på företaget. Koncepten diskuterades och analyserades och de bästa valdes ut för vidareutveckling. Samtidigt togs en kravspecifikation fram för demo-arbetsstationen som listade de viktigaste kraven på konstruktionen. De mest lovande koncepten utvecklades till enkla CAD modeller där kärnstrukturen av Claritis 3D skärm integrerades i modellerna. Det bästa konceptet valdes senare för vidareutveckling till en detaljerad CAD modell med hjälp av metoder i användarcentrerad design och ergonomiska riktlinjer som stöd. Simuleringar utfördes på den mekaniska konstruktionen för att verifiera stabiliteten i strukturen och underlätta materialval.Projektet resulterade i en detaljerad CAD modell av en demo-arbetsstation som är anpassad för enkel och smidig transport och hantering. Den nya arbetsstationen har en minskad vikt och en modulär design som ger större transportmöjligheter.The work presented in this Master Thesis was performed at Setred AB in Stockholm and at the Department of Machine Design at the Royal Institute of Technology in Stockholm. The project was carried out between January 2012 and June 2012 as the final element in our Master of Science Degree within Industrial Design Engineering.We would like to thank all people involved for their time and dedication to the project. Great thanks to the Setred staff from all three offices for all their feedback, knowledge and participation in the project. A special thank you goes to Martin Wahlstedt, our supervisor at Setred, for guiding us through the course of the project and providing us with invaluable information and feedback on our designs.Special thanks to our supervisor Carl Michael Johannesson, our supervisor at KTH, for tutoring and support, and also to our classmates at KTH for the feedback that was received during the seminars and workshops.Finally we would like to thank our families and friends for all their support during the project.
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Rodriguez-Tellez, J. "Chameleon : An integrated desktop-based computer-aided design workstation." Thesis, University of Bradford, 1986. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.374925.
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Gregerman, Rhonda Jo. "Human factor's design of a home personal computer workstation." Thesis, This resource online, 1992. http://scholar.lib.vt.edu/theses/available/etd-05042010-020212/.
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Lundin, Felix. "Design of workstation for binding adjustment in ski rental shops." Thesis, Luleå tekniska universitet, Institutionen för ekonomi, teknik, konst och samhälle, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-82835.
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This master thesis project was a part of the education Master of science in Industrial Design Engineering at Luleå University of Technology with the mission of developing a work desk that suits in to the client company NoMoreBoots range of ski rental products. The background of the project was that work desks that are used mainly with the purpose of adjusting alpine ski bindings in ski rental shops often are primitive home constructions and other manufacturers work desks with the same purpose do not have enough advantages compared to the self-built ones to be worth the extra costs. With a new kind of tool introduced in the industry that facilitates the adjustments of alpine ski bindings came an opportunity to design the work desk in a new way. The work process has followed the user-centered design framework Double Diamond which consists of the phases: discover, define, develop and deliver. After exploring of the context with interviews and benchmarking, the projects main focus became at the ergonomic conditions and how it could be improved for the staff as it was the need identified that had the most protentional of improvements for the user. Literature studies, different types of idea generating methods and evaluations have been conducted to come up with a result that meet the needs of the users. The project resulted in a CAD model of a compact work desk that has a height adjustment mechanisk to enable the user to work with a good ergonomic position in several different work tasks.
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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.
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Treanor, Darren. "A workstation for digital pathology : requirements, design, implementation and evaluation." Thesis, University of Leeds, 2012. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.588994.
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Digital pathology has the potential to transform the practice of histopathology, but there are significant barriers to the full clinical adoption of the technology. Amongst these the inefficiency of virtual slides is a particularly important factor, one which has been largely overlooked by the digital pathology community. Previous work by the author has shown that diagnostic tasks take significantly longer with virtual slides than with the microscope (on average 67% longer). This has a serious negative impact on pathologists' acceptance of the technology, the cost-benefit ratio of clinical adoption, and the willingness of pathologists to undertake large scale evaluations and validation studies of digital pathology. The inefficiency of virtual slides is caused by the inferior performance of current digital pathology software compared to the microscope. In this thesis, a comprehensive and methodical approach to designing and evaluating a better digital pathology workstation is described. In chapter 2, detailed and systematic study of the work done in the pathologist's office and the use of the microscope is described. From this, a list of requirements for a digital pathology workstation is generated. In chapter 3, these requirements are summarised and designs for an optimum digital pathology workstation are presented. In chapter 4, several prototype digital pathology workstations are evaluated experimentally. These prototypes focus on the single most significant improvement that can be made to the workstation to better support the work of the pathologist - increasing the resolution of the display and the speed of image delivery. Experimental comparison of these prototypes against the microscope is carried out to measure their performance and identify areas for improvement. After an iterative process of evaluation and development, an evaluation of the final digital pathology workstation prototype shows equivalent performance to the microscope in both diagnostic areas evaluated. Several areas for further improvement and future work are described.
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Taylor, Michael Bedford 1975. "Design decision in the implementation of a raw architecture workstation." Thesis, Massachusetts Institute of Technology, 1999. http://hdl.handle.net/1721.1/80206.
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You, N. Z. "The design of a microcomputer workstation in a network computer system." Thesis, University of Manchester, 1985. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.356422.
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Jiang, Xianghan. "Decreasing Prolonged Sedentary Behaviors In The Office: An Office Workstation Design." University of Cincinnati / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1593269651727554.
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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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Snow, Bradley William. "Prototyping a robotic disassembly testbed." Thesis, Georgia Institute of Technology, 2000. http://hdl.handle.net/1853/17955.
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Jones, Charlie Alan. "Operational extensions to a power distribution design workstation for enhanced emergency restoration." Thesis, This resource online, 1990. http://scholar.lib.vt.edu/theses/available/etd-03042009-040652/.
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Case, Clynda A. "Ergonomic analysis of workstation design for Galaxie Library Bookdrop, Apple Valley, MN." Online version, 2001. http://www.uwstout.edu/lib/thesis/2001/2001casec.pdf.
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Hethener, Eric. "The design of a multimedia workstation (image/voice/data) for radiological applications." Thesis, University of Ottawa (Canada), 1986. http://hdl.handle.net/10393/4813.
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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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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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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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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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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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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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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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Telfer, David Irwin. "The design and manufacture of a binary decision machine and an attendant workstation /." Thesis, McGill University, 1987. http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=63875.
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Persson, Tobias. "Design of a workstation for teleoperated forwarders : Exploring the future work within forestry." Thesis, Luleå tekniska universitet, Institutionen för ekonomi, teknik och samhälle, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:ltu:diva-80045.
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This thesis work has been the result of a five-year Industrial Design Engineering education at Luleå University of Technology. The project has investigated the possibilities of teleoperating forest machines using a human-centered design approach. The work has been conducted for Skogforsk, which is the Swedish institute for forestry. The project’s objective was to present ideas on how future teleoperation can improve the work as a forwarder operator. The aim was to identify the forwarder operators’ specific needs and explore how the development of a teleoperated workstation can address those needs. The project has been carried out using three phases; Inspiration, Ideation, and Impleentation. During the first phase, the project investigated how the work is carried out today and what needs a forwarder operator has. The operators’ needs can be summarised in three different areas; transporting the machine, loading and unloading, and planning. Two kinds of operators can be seen today, the ones who are motivated primarily by working in the forest, and the ones who are motivated by the production and self-competitiveness. During the Inspiration phase, the project also tested what problems exist today with operating a forwarder using teleoperation with the system implemented in the Truedsson Forestry Lab in Uppsala. It was identified that screens are an essential complement to using head-mounted displays such as VR-goggles while not offering the same amount of precision and presence in work as the goggles. It was also identified that the operators did not feel that the machine being an extension of them due to lost feedback of motion and sound. Perceived and actual control of the machine differed, and the operators did not identify the machines’ behavior during transportation. Apart from these issues, the current view did not offer a complete overview of the area around the machine. Neither did it offer visuals on the sides of the machine, and the logs sortings. Along with the identified issues, opportunities for improvement guided the explorational work through creative workshops to solutions presented and tested in either an operational test or in a video test. The ideas included the implementation of sound focusing on the gripper, which was appreciated by the operators. The precision using screens was improved by projecting the gripper’s position on the ground plane. For control of the transportation work, the project proposed solutions for indicators on tilt, roll, and the wheels of the machine. Nevertheless, it proposed an idea of projected tracks improving the work to become more proactive by highlighting obstacles and the near term position of the machine. The project also tested overview improving ideas such as drone views, and a 360 degrees view which may have potential in the future teleoperation work. Several other ideas were tested and can be seen in the Results chapter. For future work, the project proposes more tests of various ideas in a more reality-based setting. The project also proposes future work focusing on defining the future user better. For the individual operators reading this thesis work, I hope this paper can show the potentials of teleoperation, as well as prove that the development is aware of both the difficulties and the possibilities with teleoperating forest machines. For the forestry industry, I hope this paper can inspire future work to use the technology to favor the operators’ needs, and not only adapt the current cabin to work being carried out remotely. It is important to note that work in the cabin and work carried out remotely will have a significant difference in what advantages to offer. We will most definitely see operators working in the forest for many years ahead, and the future operators of teleoperation will probably not be the ones that are motivated by work in the forest today. This means that a new kind of user will emerge supplementing the current users rather than replacing them.Detta examensarbete är resultatet av en femårig civilingenjörsutbildning inom Teknisk Design på Luleå Tekniska Universitet. Projektet har utforskat möjligheter för fjärrstyrning av skogsmaskiner genom en användarcentrerad designprocess indelad i tre faser; Inspiration, Ideation, och Implementation. Arbetet har genomförts på uppdrag av Skogforsk som är det svenska forskningsinstitutet för utveckling av det svenska skogsbruket. Målet med projektet har varit att presentera idéer kring hur framtidens fjärrsyrning kan förbättra arbetet som skotarförare. Syftet med projektet har varit att identifiera skotarförarens behov och utforska hur utvecklingen av fjärrstyrning kan ta hänsyn till dessa behov. Under den första fasen undersöktes arbetet som det ser ut idag och skotarförarens behov fastställdes genom intervjuer och observationer. Behoven kan sammanfattas till tre huvudsakliga delar; transport av maskin, av och pålastning, samt planering av arbete. I dagsläget kan två olika användare ses, de vars största motivation är arbetet i skogen, och de som motiveras främst av hög produktion och egenutveckling. Under första fasen så undersöktes problem med fjärrstyrning genom test med en fjärrstyrd skotare i Truedsson Forestry Lab i Uppsala. Det identifierades att skärmar är ett nödvändigt komplement till VR-glasögon trots att de idag inte erbjuder samma precision och närhetskänsla. Det identifierades också att förare uppgav att de inte fick samma koppling till maskinen som ljud och vibrationer annars erbjuder i hytten. Uppfattad och verklig kontroll över maskinen skiftade mellan styrning i maskin, och på distans. Förarna uppmärksammade inte slirning, glid, eller lutningsförändringar vid fjärrstyrning. Förutom dessa problem så erbjöd det befintliga systemet inte kontinuerlig överblick runt om maskinen. Lastens uppbyggnad saknades och inte heller visuell blick av området nedanför lastutrymmet kunde erhållas. Med utgångspunkt ur identifierade problem med fjärrstyrning och möjligheter för utveckling av dagens arbete, utforskades idéer genom kreativa workshops under andra fasen. Under tredje fasen valdes idéer ut, utvecklades, och testades genom antingen ett fysiskt operatörstest, eller ett videotest. En av idéerna testade implementering av ljud med fokus på gripen vilket uppskattades av alla testförare. Skärmarnas precision förbättrades genom projicering av gripens position på horisontella ytor. För att förbättra kontroll av maskin utforskade projektet implementering av olika indikatorer kring lutning och hjulbeteende. En idé kring projicerande hjulspår med fokus på proaktivt uppmärksammande av maskinens position och potentiella hinder, utforskades i syfte att förbättra arbetet. Projektet undersökte även diverse vyer för överblick, som drönarvyer, och en 360 graders vy som kan ha potential för framtida fjärrstyrningsarbete. Andra idéer som testades kan ses i Resultat kapitlet. För framtida arbete rekommenderas fler, och mer verklighetsbaserade tester. Det rekommenderas även att framtidens användare definieras bättre för att styra utvecklingen i rätt riktning. För den individuella föraren som läser detta arbete hoppas jag denna examensrapport kan visa på potential för framtida fjärrstyrningsarbete. Jag hoppas även att rapporten kan visa på att utvecklingen är medveten om såväl svårigheter som möjligheter. För skogsindustrin hoppas jag denna rapport kan inspirera framtida arbete att fokusera på fördelar med fjärrstyrningstekniken med utgångspunkt i förarnas behov, och inte bara anpassa dagens arbete i hytten att ske på distans. Det är viktigt att märka på att arbete på distans och i hytten kommer erbjuda olika fördelar. Vi kommer antagligen se förare i skogen i många år framöver och det är troligt att framtidens operatörer inte är de som motiveras av arbete i skogen. Det innebär att en ny typ av användare kommer växa fram som kommer komplettera dagens förare snarare än att byta ut dem.
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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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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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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.