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 19 of 19 for “"hexapod"”.
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Optimization and Modeling Tools for Telescope Hexapod Structures
<p>Hexapod trusses are an important element in many mechanical design systems. The natural frequency and stiffness behavior under geometric and mass variations of such structures is largely undocumented. Furthermore, the ability to quickly model hexapod designs and explore a large design-space in …
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A Low Cost, Computer-Vision-Based, Target-Tracking Hexapod
… that such a system can be developed, a walking hexapod robot kit was modified to include a wireless communication and computer vision system and outfitted with custom designed software in order to perform the task of finding, approaching, and identifying an orange ball in a controlled …
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Reconfiguration and tool path planning of hexapod machine tools
Hexapod machine tools have the potential to achieve increased accuracy, speed, acceleration and rigidity over conventional machines, and are regarded by many researchers as the machine tools of the next generation. However, their small and complex workspace often limits the range of tasks they can …
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Work Space Analysis and Walking Algorithm Development for A Radially Symmetric Hexapod Robot
… System (MARS) built for this research is a hexapod robotic platform capable of walking and performing manipulation tasks. Each of the six limbs of MARS incorporates a three-degree of freedom (DOF), kinematically spherical proximal joint, similar to a shoulder or hip joint; and a 1-DOF distal …
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Design of an electro-mechanical hexapod for accelerated life testing of optical fiber assemblies
The quantity and length of optical fibers required for the Hobby-Eberly Telescope Dark Energy eXperiment (HETDEX) create unique fiber handling challenges. More than 33,000 optical fibers will enable the Hobby-Eberly Telescope (HET) to collect data on at least one million galaxies that are 9 billion …
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Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot
… to navigate uneven and complex terrain. A hexapod robot has been developed by the Robotics and Agents Research Lab at UCT, however multiple inadequacies have become evident. This work aims to produce a mathematical model of the hexapod and using this model, implement an effective control …
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Kinematic Calibration of Parallel Kinematic Machines on the Example of the Hexapod of Simple Design
… stringent in case of the calibration of hexapods of the so-called simple design. The objectives of the here proposed new calibration procedure are based on the deficits mentioned above under the special requirements due to the circumstances of the simple design-concept. The main goals of …
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A computer simulation study of tripod follow-the-leader gait coordination for a hexapod walking machine
A new type of gait and steering algorithm for use by a six-legged walking machine is developed and presented in this study. The spatially oriented tripod follow-the-leader gait is an extension of previous studies of temporal follow-the leader gaits and should prove useful for all-terrain walking …
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Centrinių sekų generatorių algoritmų grįstų roboto judesių gerinimas /
… was adapted for the motion generation of a hexapod robot in this work. In-depth analysis of the algorithm was performed and alternative forms of its adaptation were proposed for generation of diverse movement characteristics. An improvement over the central pattern generator algorithm was …
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Design of a low-cost high-performance flexural six degree-of-freedom positioning stage
… of the output stage, unlike a traditional hexapod which requires inverse kinematics. This thesis presents initial sizing rules of thumb, fundamental scaling laws, simulation and experimental results, and practical considerations for manufacturing. Prototypes were built and tested to confirm …
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Time-optimal CNC tool paths : a mathematical model of machining
… which this thesis implements for a parallel hexapod machine tool, uses the anisotropy for finding a preferable vector field.
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Evaluating Whole Body Vibration and Standing Balance Among Truck Drivers
… cab, a three-dimensional vibrating platform (hexapod system) was used in a laboratory setting to expose eight truck drivers to two hours of simulated truck driving. The hexapod system provided an accurate and systematic method to simulate these vibrational exposures for the purpose of …
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The Reuse of Circular External Fixator Components: An Assessment of Safety and Potential Savings
… 63 % (R136 568.19) of expected total cost for hexapod and Ilizarov frames respectively. Conclusion: The strategy of reusing circular external fixator components is unconventional and this study was conducted to evaluate the safety and potential savings in a resource constrained environment. We …
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A hybrid type small 5-axis CNC milling machine
… machines such as Euler angle machines and the Hexapod. In particular, we consider singularities, reversal characteristics, and manufacturability. We show that hybrid machines can benefit from the advantages of serial and parallel mechanisms while avoiding most potential pitfalls of both …
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Methodik zur Modellierung von photogrammetrischen Messungen zur Charakterisierung der Genauigkeit von Werkzeugmaschinen
… thermo-elastischer Verlagerungen an einem Hexapod wird eine erweiterte 6DoF-Messkonfiguration, bestehend aus stationären und mit der Maschine bewegten Kameras, vorgestellt. Damit können Messunsicherheiten von weniger als 10 μm bzw. 10 μm /m in einem Messvolumen von 600 mm x 600 mm x 400 mm …
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The influence of vicariance and dispersal on the diversification and evolution of springtails (collembola)
… This class of tiny, wingless insect-like hexapods includes some of the most abundant (and perhaps, most diverse) arthropods on earth. They have colonized, diversified, and adapted to nearly every terrestrial habitat from marine intertidal zones and tropical rainforests to polar deserts and …
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Neuromorphic auditory computing: towards a digital, event-based implementation of the hearing sense for robotics
… central pattern generator was used to control a hexapod robot in real-time using spiking neural networks on SpiNNaker. Then, a sensory integration application was implemented combining sound source localization and obstacle avoidance for autonomous robots navigation. Lastly, the Neuromorphic …
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Decentralization and Hierarchical Organization for Control of Adaptive and Cognitive Behavior in Autonomous Robots
… The underlying architecture is applied on the hexapod robot Hector and analyzed in detail in simulation. Furthermore, learning is considered for this approach.