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.
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Showing 1 to 20 of 137 for “"End effector"”.
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Kinematic evaluation of end effector design
The complex, many degree-of-freedom end effectors at the leading edge of technology would be unusable in the sea bottom research environment. Simpler designs are required to provide adequate reliability for subsea use. This work examines selection of end effector designs to achieve optimum grasping …
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COMPLIANT END-EFFECTOR COUPLING FOR ROBOTIC ASSEMBLY
… and has led to the development of compliant end-effectors and/or wrists. This thesis presents a novel passively compliant coupling, the compliant end-effector coupling (CEEC), that aids automated assembly. It serves as a mechanical interface between the end of the robot arm and the …
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Research and development of a rescue robot end-effector
… research, design, development and testing of an end-effector system for use on an Urban Search and Rescue (USAR) robot which is in development in the Robotics and Agents Research Laboratory (RARL) at the University of Cape Town (UCT). This is the 5th generation Mobile Robot Platform (MRP) that …
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Design of a robotic end-effector for automated bolting
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1985.
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Passive and active grasping with a prehensile robot end-effector
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 1990.
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Design and Analysis of End-Effector Systems for Scribing on Silicon
This thesis investigates end-effector systems used in a chemomechanical scribing process. Chemomechanical scribing is a method of patterning silicon to selectively deposit a monolayer of material on the surface of the silicon. This thesis details the development of a unique end-effector for …
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Augmented Reality Navigation Interfaces Improve Human Performance In End-Effector Controlled Telerobotics
… through remote camera views, resulting in poor end-effector navigation quality and extended task completion times. This thesis explores the application of three-dimensional augmented reality (AR) interfaces specifically designed to improve human performance during end-effector controlled …
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A non-contact end effector for robotic handling of non-rigid materials
… in the food sector is alack of suitable robot end effectors. The majority of end effectors used for electromechanicalparts are not applicable, because, non-rigid food products have somewhatunpredictable and unstable behaviour characteristics which arises from their natural …
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Development of an end-effector system for autonomous spraying applications and radiation surveying
… testing of a scale proof-of-concept prototype end-effector system for autonomous shotcrete application and radiation surveying in underground uranium mining environments. The prototype end-effector system presented consists of two functionally distinct prototype tools that achieve the …
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The effects of vehicle station keeping and end effector disturbance compensation on neutral buoyancy teleoperation
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1993.
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Design of Robots for Unstructured Environments - A Customisable Agile Quadruped, a Sensorised High-Force Gripper, and an Intelligent Drilling End-Effector
… Smart Drill, a sensorised robotic power-drilling end-effector that enables low-payload robotic arms to perform drilling operations. Smart Drill integrates intelligence into its design, allowing the endeffector to directly control the task execution in a robotic-platform-agnostic manner, …
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Triple Scissor Extender : A 6-DOF lifting and positioning robot for autonomous aircraft manufacturing
This thesis presents the Triple Scissor Extender (TSE), a novel 6-DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towards the ceiling with 6 independent linear actuators moving the base ends of …
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An efficient process to designing robotic end effectors for high value crops: Application on robotic apple fruitlet thinning
… window of a few weeks to field tests one robotic end effector per season using the conventional process. This hinders the research and development timeline of robotic end effectors. This thesis presents an efficient design process, modified from existing design methods, to overcome this limitation …
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A heuristic approach for path planning for redundant robots
… the magnitude of the angles needed to move the end effector to the next target point. The inputs to the controller are the desired displacement of the end effector and the elements of the jacobian matrix that correspond to the considered joint, while the output is the angle magnitude of the …
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Symbolic automation and numerical synthesis for robot kinematics
… the Cartesian position and orientation of the end effector for the specified values of joint parameters is analyzed. Second, the differential motions concerning the differential relationships between the command variables in position and orientation of the end effector and the joint-controlled …
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Plant Specific Direct Chemical Application Field Robot
… weeds in the field image and the custom designed end effector with a robotic arm to carry out plant specific direct application. The developed vision system with the algorithms was dealt with unpredictable outdoor illuminations to sense plants in the field via a series of image processing. The …
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Teaching a robot manipulation skills through demonstration
… feedback data are also captured. Joint and end effector motions are measured through time, and an improved Mean Squared Velocity [MSV] analysis is performed to segment motions into possible goal-directed streams. Further combinatorial selection of subsets of markers allows final episodic …
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Design methodology to reduce the number of actuators in complex mechanisms
… mechanical control in the design of a complex end effector. A design methodology is developed and demonstrated. The main goal of this methodology is to maximize reversible steps to direct the design. By attempting to obtain as much mechanical control as possible, several mechanisms are …
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Trajectory Generation for a Multibody Robotic System: Modern Methods Based on Product of Exponentials
… (Sawyer Robot) with 7 revolute joints and an end-effector.</p> <p>In the first method, an Inverse Kinematics (IK) algorithm based on the Newton-Raphson iterative method is applied to generate constrained joint-space trajectories corresponding to straight-line and curvilinear motions of the end …
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