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 39 for “"revolute"”.
-
Scaling a Prismatic Revolute Joint (Pr) Manipulator Using Similitude and Buckingham Pi Techniques
… methods for sizing a prototype micro prismatic revolute (PR) manipulator actuated by permanent magnet (PM) direct current (d.c.) gearmotors. Dimensional analysis was the principle tool used in this investigation, and addressed the problems of scaling a trajectory planner, control law, and …
-
Development of a [i.e. an] engineering design procedure for a complex revolute joint
Design procedures are developed that combine both the finite element method and the transfer matrix method in design. These procedures were drawn up as a result of the analysis of a large continuous mining machine to be produced by Fairchild International. Combining the methods allowed the analysis …
-
Open Loop Compliance Model of a 6 DOF Revolute Manipulator to Improve Accuracy Under Load
Robotic accuracy has long been limited by the compliance of the manipulator. Whether links under bending loads or backlash in gear trains and stretching of belts, the resulting compliance causes a loss of accuracy at the end-effector. Previous research has investigated accuracy of ideally stiff …
-
Multi-stable Compliant Rolling-contact Elements
… models of large-angle, compliant, multistable, revolute joints. This research presents evidence of the capability of these models and concepts by presenting a case study in which the miniaturization of revolute joints are examined. Previous attempts at multistable revolute joints can be …
-
DNA Origami Mechanisms and Machines
… with the initial step of creating DNA origami revolute joints (hinges). Revolute joints are single degree of freedom joints and demonstrate the design and construction of nanoscale kinematic joints with specific constrained motion. The revolute joint design was integrated into a DNA origami …
-
Computer aided design and synthesis of the RSCR spatial mechanism
… of a computer aided design system for the RSCR (revolute-spheric-cylindric-revolute) spatial mechanism. Exact relationships for position, velocity, and acceleration analysis have been derived. Closed form synthesis equations have been developed for the RS and RC dyads. The theory developed in …
-
Motion Planning along Manifolds with Geodesic Convexity and Analytic Inverse Kinematics
… those of mobile robots, robot arms that have revolute joints without limits or ball joints, and flying robots, as well as the constrained configuration spaces that arise when planning with task-space constraints. In this thesis, we treat the problem of motion planning along Riemannian …
-
Robot positioning error analysis and correction
… a hypothetical RRRS robot, a 3-link robot with revolute joints and a spherical hand.
-
The Foundation for CADSPAM: Computer Aided Design of SPAtial Mechanisms
… using an equivalent chain containing only revolute and prismatic joints. The supporting analysis routine will be general and will be able to analyze any lower pair mechanism using the iterative approach developed by Sheth and Uicker [1972]. Unlike precision point synthesis methods that …
-
Computer-aided RRSS spatial mechanism synthesis and design
… is a four-link mechanism composed of two revolute (R) joints and two spheric (S) joints. The notation RRSS indicates the order of connection of the joints. A computer program in FORTRAN 77 has been written for three to seven positions synthesis, as well as analyses of the RRSS mechanism. …
-
Elliptical Rolling Link Toggle Mechanisms for Passive Force Closures with Self-Adjustment
… to circular rolling contact and conventional revolute joints where high quality force transmission "low friction and backlash" with variable output are desired. Parameters specific to the joint and its position are developed in terms of relative link angles and elliptical surface geometry. …
-
Ortho-Planar Mechanisms for Microelectromechanical Systems
… for single loop planar folded mechanisms with revolute joints, and later extended to mechanisms with prismatic joints and to spherical folded mechanisms. Functions which assign a value to each point in design space can be used to describe classes of mechanisms and evaluate their utility for …
-
Concepts for retractable roof structures.
… bar elements interconnected through simple revolute hinges. A concept for retractable roofs is then proposed by covering the bar elements with rigid cover plates. To prevent the cover plates from inhibiting the motion of the structure a theorem governing the shape of these plate elements is …
-
Dynamics and Control of Higher-order Nonholonomic Systems
… multiple slosh modes and Prismatic-Prismatic-Revolute (PPR) robots moving open liquid containers, as well as an interesting class of systems that do not admit asymptotically stabilizing continuous static or dynamic state feedback. Specific assumptions are introduced to define this class, which …
-
Development of an actively compliant underwater manipulator
… rated to full ocean depth was built. Each of the revolute joints is driven by a DC brushless sensorimotor working through a multi-stage cable/pulley transmission. The manipulator mechanism and wiring is fully enclosed by cast aluminum housings filled with mineral oil. Mineral oil functions to …
-
Affordance-based control of a variable-autonomy telerobot
… simple objects incorporating either a single revolute or prismatic joint.
-
Design of a robotic manipulator using variable geometry trusses as joints
… in the serial configuration. By replacing the revolute joints with the ‘VGT joints’, it may be possible to add considerable rigidity at the joints and hence design a highly dextrous manipulator. The objective of this thesis is to study the feasibility of a design of manipulators using Variable …
-
Multidisciplinary Design Optimization of Nose Landing Gears with Two Degrees of Freedom Considering Out of Plane Loading and Actuator Performance
… wheel diameter, cross-sectional dimensions, and revolute joint distances of all the landing gear members in the preliminary design phase.
-
A study of the flexible space platform based deployable manipulator
… space platform in any desired orbit; (ii) the revolute and the prismatic joints are flexible with finite gear ratio and rotor inertia; (iii) the nonlinear, non autonomous and coupled equations of motion are presented in a compact form which provide insight into the intricate dynamical …
-
Compliant Mechanisms to Perform Bearing and Spring Function in High Precision Applications
… to the second, and the compliant contact-aided revolute (CCAR) joint belongs to the third category.</p>
Page 1 of 2