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 63 for “"multi-degree of freedom"”.
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Multi-degree of freedom telemanipulation in an unstructured environment
Two approaches to 6-degrees-of-freedom telemanipulation that will accommodate different needs and skills of potential users with congenital amputation, arthrogryposis, muscular dystrophy and cerebral palsy were developed. One method uses scalable movements (i.e. position and orientation), and the …
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Simulating Complex Multi-Degree-Of-Freedom Systems and Muscle-Like Actuators
Modeling of biological organisms and developing robotic systems based on these models are complicated and computationally intensive tasks. In order to reduce the amount of time needed to develop such models, computational tools are required which intelligently determine parameters of the physical …
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Analysis, development, and control of multi-degree-of-freedom passive haptic devices
… as passive actuators can display a wide range of impedance while guaranteeing stability. However, passive haptic devices suffer from a serious drawback; their force output is difficult to control. This issue was addressed extensively for planar manipulators but devices with higher …
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Design of multi-degree-of-freedom tuned-mass dampers using perturbation techniques
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2003.
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Effect of control interface implementation on operation of a multi degree of freedom telerobotic arm
… or attached to - a robot. For example, concepts of Mars human-robot exploration teams, or extravehicular activity (EVA) on the International Space Station (ISS) with an astronaut fixed to the end of a large robot arm for stability. Robots in these scenarios must be able to be directed in real …
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Multi-Degree of Freedom Passive and Active Vibration Absorbers for the Control of Structural Vibration
This work investigates the use of multi-degree of freedom (MDOF) passive and active vibration absorbers for the control of structural vibration as an improvement to conventional single degree of freedom (SDOF) vibration absorbers. An analytical model is first used to compare passive two degree of …
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Design of a re-configurable test stand for a multi degree of freedom compliant robot prototype
… measuring the force applied and the displacement of the prototype's end. The prototype is a five degree of freedom, compliant device, which required the design process to preserve these DOF while measuring the force and displacement. To reduce the restriction on the robot's DOF, the final design …
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Design and control of an high maneuverability remotely operated vehicle with multi-degree of freedom thrusters
… involves the design, manufacture, and testing of a small, < lm³, < 1Okg, low cost, unmanned submersible. High maneuverability in the ROV as achieved through a high thrust-to- mass ratio in all directions. One identified solution is moving the primary thrusters in both the pitch and yaw …
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Performance of Nonlinear Mechanical, Resonant-Shunted Piezoelectric, and Electronic Vibration Absorbers for Multi-Degree-of-Freedom Structures
… in structural systems. Limited evaluation of the performance of nonlinear vibration absorbers for nonlinear structures exists in the current literature. The state of the art is extended in this work to vibration absorbers in their three major physical implementations: the mechanical …
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Modeling and tradespace exploration of a space suit hip bearing assembly using multi-degree-of-freedom range of motion analysis
… using a Hip Brief Assembly (HBA), composed of rigid, constant-volume sections connected by bearings. However, due to the rigid components and fixed degrees of freedom (DoFs), the HBA and other hard-component joint assemblies (HCJAs) have stricter bounds on motion. For example, previous …
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Concept synthesis and design optimization of meso-scale, multi-degree-of-freedom precision flexure motion systems with integrated strain-based sensors
The purpose of this research was to generate the knowledge required to 1) identify where and how to best place strain-based sensors in multi-degree-of-freedom (MDOF) flexure systems and 2) design a flexure system with optimal topology/size/shape for precision equipment and instrumentation. The …
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Seismic Response of Light Attachments to Buildings
… is proposed to compute the maximum response of light secondary systems attached to buildings subjected to earthquakes. The method is derived by considering that a secondary system and its supporting primary structure form a single assembled system, and by applying a modified version of the …
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A simplified representation of damping force in lumped-parameter systems with linear and nonlinear damping
The objectives of this thesis are to formulate analysis techniques which determine the damping coefficients for each sub-system in the mathematical model of linear multi-degree-of-freedom systems, and to determine modal dissipation functions for nonlinear systems. For the purpose of this study, …
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Development of standard components for multi-degrees-of-freedom mems positioning stages with closed-loop feedback
… are playing a significant role in a variety of fields such as electronics, micro-fluidics, bio-medical applications, and MEMS in micro-electro-mechanical systems. These miniaturized devices have advantages such as higher efficiency, less power consumption, and higher sensitivity than their …
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Evaluation of Connection Fracture and Hysteresis Type on the Seismic Response of Steel Buildings
Another topic of the research is to study the effects of hysteresis models on structural performance. During the performance-based structure design, the effects of hysteretic energy dissipation on the maximum displacement response amplitude of buildings plays a important role in determining the …
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Model-Based Strategies for Real-Time Hybrid Testing
… in this dissertation extend the capabilities of real-time hybrid testing by facilitating accurate testing of structural systems with larger natural frequencies (e.g., stiff structures or multi-degree-of-freedom systems) and handling larger delays/lags which are typically associated with …
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System identification of dynamic structural systems using continuous-time domain methods
Structural system identification is the process of deducing the properties of a structural system from its measured response to ambient vibration by fitting a mathematical model. The objectives of this study are to: (1) investigate the use of existing system identification methods, and (2) develop …
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The dynamic stability characteristics of damage-prone systems
The behavior of a simple mechanical system, experiencing large deformations and inelastic material response with damage, is presented. Because the differential equations that describe the motion are highly nonlinear and coupled for the multi-degree-of-freedom system, a numerical procedure was …
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A three-dimensional analytical study of spatial variability of seismic ground motions
… is developed to estimate the spatial variation of seismic ground motions which is necessary for the analysis and design of lifeline systems. An analytical model for wave propagating through a three-dimensional half-space is first proposed to evaluate the ground responses. The incoherent slip …
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Vibration Measurement Based Damage Identification for Structural Health Monitoring
The focus of this research is on the development of vibration response-based damage detection in civil engineering structures. Modal parameter-based and model identification-based approaches have been considered. In the modal parameter-based approach, the flexibility and curvature flexibility …
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