Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
Results
Showing 1 to 20 of 21 for “"Cable-Driven"”.
-
Stiffness Analysis of Cable-Driven Parallel Robots
… aim of this thesis is the stiffness analysis of cable-driven parallel robots. Cable-driven parallel robots have drawn considerable attention because of their unique abilities and advantages such as the large workspace, light weight of cable actuators, easy disassembly and transportation of the …
-
Elastic Cable-Driven Bipedal Walking Robot: Design, Modeling, Dynamics and Controls
… biological walkers. It consists of using elastic cables to actuate a bipedal walking robot, where the motors, which are used for pulling the cables, are attached to the segments that undergo low accelerations (like trunk). </p><p>The main results and contributions of the dissertation are:(a) The …
-
Design and Control of a Cable-Driven Articulated Modular Snake Robot
This thesis presents the design and control of a cable-actuated mobile snake robot. The goal of this research is to reduce the size of snake robots and improve their locomotive efficiency by simultaneously actuating groups of links to fit optimized curvature profiles. The basic functional unit of …
-
Cable driven innovative systems for urban transport: engineering, design and energy consumption
L'abstract è presente nell'allegato / the abstract is in the attachment
-
A Single-Actuated and Cable-Driven Assistive Glove Designed For Farming Application
… is a lightweight, self-contained, portable, cable-driven, and single-actuated robotic glove. The cable configuration is inspired from the human hand flexor tendons. Due to uncertainties associated with the fabric's flexibility and potential slippage between the cable and the glove, the …
-
Investigation of a Cable-Driven Parallel Mechanism for Pressure Suit Arm Resizing and Motion Assistance
… resizing is accomplished through a series of cable-driven parallel manipulators, which are used to adjust the distance between plates and rings built into a soft space suit. These actuators, as well as enabling passive suit resizing, could be used to actively assist the astronaut's motion, …
-
Design and Control of a Cable-Driven Sectorial Rotary Actuator for Open-Loop Force Control
… of other haptic actuators, specifically cable-driven force feedback designs. These tools which include a linear system model can be valuable not only in the development but in the control of cable-driven actuators. Due to the imposed design criteria, the developed 1.045 Nm (1.359 Nm peak) …
-
Investigations into the Form and Design of an Elbow Exoskeleton Using Additive Manufacturing
… process of designing and making a low-profile, cable-driven arm exoskeleton. Many advanced methods are explored: 3D scanning, generative design, soft material, compliant joint, additive manufacturing, and 3D latticing. The experiments on TPU kerf cut found that the stress-strain curve of the …
-
A design of actuation mechanisms for use in 'huggable' robotic teddy bear
… The Ear mechanism has only 1 DOF and is cable driven. These mechanisms will allow the Huggable teddy bear to provide emotional feedback as well as create a realistic response to stimulus. Up to this point, the designs and mechanisms have been built. Testing of the design will follow to …
-
Design and Prototype of an Active Knee Exoskeleton to Aid Farmers with Mobility Limitations
… The device will be a lightweight, unobtrusive cable-driven exoskeleton actuated by distally-worn electric motors. We hope that use of the exoskeleton will result in increased ranges of motion and overall reduction of stress on the wearer's body, which will minimize the effects of arthritis and …
-
A novel uterine manipulator incorporating non-local controls and lateral motion
The work described in the paper was driven by a clinical need for a better uterine manipulator during laparoscopic gynecological procedures, including both hysterectomy and hysteroscopy. The primary purpose of the uterine manipulator is to provide a convenient means for the operators to position …
-
Towards Naturalistic Exoskeleton Glove Control for Rehabilitation and Assistance
… primarily on design, improving soft actuator and cable-driven systems, with only limited focus on intelligent control. There is a need for control that is not limited to position or force reference signals and is user-driven. By implementing a motion amplification controller to increase weak …
-
Multi-probe robotic positioner for cryoablation in MRI
… coil that rests on the patient and contains a cable driven two-degree-of- freedom spherical mechanism that orientates the intervention probes about a remote center of motion located 15 mm above the skin entry point. A carriage, pulled by strong and low stretch cables, can position up to three …
-
Innovative Design and Development of PANDORA: Advancing Humanoid Robotics Through Additive Manufacturing
… as THOR and ESCHER. The upper body features a cable-driven arm system, which is both lightweight and highly functional, offering eight degrees of freedom per arm. A significant contribution of this work is the development of design heuristics for AM, tailored specifically for the construction …
-
7-DOF Robotic Arm XY-Plane Translational Stability
… for an open-loop and closed-loop control of a cable driven XY-table. From this analysis, a better understanding of an active mount solution for robotic arms can be identified. The key findings of this research are the validation of open-loop control response based on the calculated reaction …
-
DESIGN AND CONTROL OF A ROBOTIC SYSTEM TO ASSIST WITH MRI-GUIDED INTERVENTIONS
… (MRI)-compatible patient-mounted and cable-driven manipulator (that we named ROBOCATHETER) seeks to steer cardiac catheters under beating-heart conditions, while suitably addressing the decfiiencies that currently used manipulators vastly suffer from. Following the implementation of a …
-
Modeling Upper Body Kinematics While Using a Transradial Prosthesis
… prostheses, incorporating hooks and other cable driven terminal devices, have even fewer active degrees of freedom. In order to perform activities of daily living, an amputee must use a greater than normal range of movement from other anatomical body joints to compensate for the loss of …
-
A Study Exploring the Use of Artificial Ligaments to Enhance the Human-Robot Interface Via Force Distribution Manipulation in Biomimetic Cuff Systems
… there has been an effort to incorporate cable-driven designs rather than rigid attachments. This change in design decreases the overall weight of the system and can allow the cable to adapt to a user’s change in gait patterns. This thesis investigates a cuff system centered around the …
-
Bistable prestressed spring steel grippers for aerial perching and grasping
… gripper designs, a single band gripper with a cable driven opening system, then an improved silicone encased single PSSB gripper design. The first single band gripper is experimentally tested to determine the triggering force, effect of offset on triggering force, effect of spring pretension on …
-
Design and Control of Quasi-direct Drive Actuation for Lightweight and Versatile Wearable Robots
… are presented; from tethered to portable, cable-driven actuation to quasi-direct drive actuation. In addition, a unified human-robot interaction model is presented that compares three actuation paradigms (i.e., conventional, series elastic, and quasi-direct drive actuator) with …
Page 1 of 2