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 34 for “"Six-Axis"”.
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Fabrication and redesign of a meso-scale six-axis nano-positioner system
… Compliant Systems lab to design a system of 10 six-axis meso-scale nano-positioners. They devised a system that could revolutionize the nano-scale industry, by making massive parallel positioning at the nanometer/micro-radian possible at a low cost. In order to test the design, the alpha …
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Crafting decisions : integrating design, fabrication, and assembly for six-axis robotic arms
Within the contemporary practice of architecture, what we design determines how we make it. Digital fabrication provides designers the opportunity to directly link digital models with CNC equipment such as robotics. While beneficial this direct link eliminates the ability for a craftsperson to …
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Design of a novel six-axis metrology system for meso-scale nanopositioners
… best possible means and methods of building a six axis metrology system given cost and space constraints. Six axis measurements are a crucial part of precision engineering and characterizing machine performance, however commercially available sensors are not cost-efficient and are difficult to …
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Six-Axis Levitated Stage with a Novel Flux-Steering Magnetic Hub Actuator
This thesis presents a two-axis, permanent-magnet-biased, flux-steering actuator and its integration into a levitated stage. The hub actuator consists of a steel stator ring (165 mm OD) and a steel mover cylinder (52 mm OD). The stator has four teeth evenly spaced and pointing radially inward, each …
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Design and analysis of a Stewart-platform-based six-axis load cell
In this work, a six-axis load cell based on the geometry of a Stewart platform was developed. Its geometry and functional requirements were motivated by the needs of robotic limbs designed to be attached to human workers to support them in typically unergonomic positions. The sensor can measure …
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Design, fabrication, and testing of a three-dimensional monolithic compliant six-axis nanopositioner
… a three-dimensional monolithic compliant six-axis nanopositioner. Much of this work was based off of the original two-dimensional HexFlex manipulator created by Prof. Martin Culpepper and a three-dimensional design by Samuel Korb. The compliant mechanism was manufactured from a single …
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Modeling of the Damping Contributions of O-rings in a Submergible Six-Axis Load Cell.
… and improve the response time of submergible 6-axis load-cells based on multiple beam configurations sealed with compressible o-rings. This objective is achieved by adding a damping contribution to the existing stiffness model through an appropriate time derivative function. Data collection …
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Design of an STM and EPL control system and linear actuator preload diaphragm
… a system capable of EPL based on a HexFlex six axis nano-manipulator. The system will also be capable of Scanning Tunneling Microscopy (STM), which is will locate the surface with the precision necessary for EPL and also allow the user to confirm the machined features immediately after …
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Modeling and control of friction stir welding
… controller was developed and implemented on a six-axis robotic FSW machine...Second, the effect of process parameters and tool design was studied utilizing various sensor measurements"--Abstract, page iv.
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A six-degree of freedom flexural positioning stage
… positioning stage was constructed using a six-axis compliant mechanism driven by three two-axis electromagnetic actuators. The mechanism's monolithic, planar geometry is easily fabricated with low-cost manufacturing processes (such as waterjet machining). The manipulator tolerates ±1 mm …
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Design and validation of new testing apparatus for testing helical compression springs under combined axial, shear, torsion, and bending loads.
… testing apparatus was constructed using a custom six axis load cell and a commercial MTS system. The calibration and validation of the custom load cell is presented. One compression spring was tested under different combinations of axial, shear, and torsional displacements to validate the design …
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Mechanical Redesign and Fabrication of a 12 DOF Orthotic Lower Limb Exoskeleton and 6 Axis Force-Torque Sensor
… also details the design and implementation of a six axis force-torque sensor built into the foot of OLL-E. The purpose of this sensor is to provide feedback to the central control system and allow OLL-E to be self-balancing. This foot sensor design is calibrated and initial results are discussed …
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Force and hydrodynamic efficiency measurements of a three-dimensional flapping foil
… measurements were made by mounting a small, six-axis dynamometer directly onto the foil shaft of a flapping foil module. The module uses two computer controlled servo motors to actuate a foil in a sinusoidal pitch and roll motion, similar to the motion of a penguin's wing. The measured thrust …
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Fabrication of high-quality microflexures using micromilling techniques
… use of various metals in the design of mesoscale six-axis HexFlex nanopositioners. Micromilling is being sought as an alternative method of manufacturing HexFlex flexural bodies due to its inherent process and material flexibility. Cutting forces were approximated (and verified using FEM and …
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Design and engineering of low-cost centimeter-scale repeatable and accurate kinematic fixtures for nanomanufacturing equipment using magnetic preload and potting
… by a micro-vision system and moved by a six-axis nanopositioner until proper alignment is achieved, at which point the fixture position is permanently set by UV light. This thesis presents design rules and insights for design of a general accurate and repeatable kinematic fixture and …
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Design and development of an improved two-axis meso-scale electro-magnetic actuator for a flexure based nano-positioner
… the design and development of an improved two-axis meso-scale electro-magnetic actuator for a low cost metal flexure nano-positioner. Three such 2-axis actuators can be combined to give the nano-positioner 6-degrees of freedom. The developed system will remove the cost barrier to technologies …
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Vision-based guidance and control of a hovering vehicle in unknown environments
… emphasizing cluttered indoor spaces. Six-axis inertial data and a low-resolution onboard camera yield sufficient information for image processing, Kalman filtering, and novel mapping algorithms to generate a, high-performance estimate of vehicle motion, as well as an accurate …
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Development of kinematic coupling preload guidelines through design and testing of an adjustable micromanufacturing fixture
… into multiple precision machines, allowing for six-axis adjustment and alignment of workpiece stages that are moved between these machines. Such a fixture--a hybrid positioning fixture (HPF)--has been designed, fabricated, and tested. This HPF has demonstrated <50 nm and <1.5 [mu]rad 2[sigma] …
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Advancing Multi-Axis Force/Torque Sensing via Beam Optimization, Self-Decoupling Mechanisms, and Morphing-Based Mechanical Intelligence
This dissertation advances multi-axis force and torque sensing by unifying beam-optimized compliant mechanisms, 3D structural self-decoupling, in-measurement morphing-based mechanical intelligence, and a novel six-axis self-decoupling architecture into a cohesive framework, establishing a new …
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Implementation of a force-reflecting telerobotic system with magnetically levitated master and wrist
… system have been addressed in this thesis. A six-degree-of-freedom magnetically levitated fine-motion device is used as the teleoperation master. The slave system is a redundant coarse-fine manipulator system which consists of a conventional robot equipped with a magnetically levitated …
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