Design and implementation of a pair of robot arms with bilateral teleoperation

Modern robotics has progressed in the manufacturing industry so that many manual labor tasks in assembly lines can be automated by robots with high speed and high positional accuracy. However, these robots typically cannot perform tasks that require perception or disturbance rejection. Humans are still needed in factories due to their innate ability to understand situations and react accordingly. Teleoperated robots can allow human perception to be combined with the dexterity and safety of a robot as long as the user interface and controls are carefully designed to avoid hindering the operator. Force feedback bilateral teleoperation is one method for providing users with an intuitive user interface and feedback. This thesis documents the design, construction, and implementation of a pair of bilateral teleoperated robotic forearms, each consisting of a 2 degree of freedom wrist, and a gripper. The forearm uses commercial off the shelf actuators in order to keep cost and additional development time low, while also testing the feasibility of using non-custom actuators. Development of the forearms included design and manufacturing of the mechanical assemblies, implementation of high-speed communication protocol, and tuning of control parameters.

Name thesis:degree_name

Bachelor

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2019

Author dc:creator

• Hattori, Alexander.

Advisor dc:contributor.advisor

• Sangbae Kim.

• Mechanical Engineering.

Statement dc:rights

• MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

https://hdl.handle.net/1721.1/123293

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/123293