Design architecture for dynamic low inertia multi DOF robotic manipulators

This thesis is intended as a background for robotic designers interested in creating low inertia, high bandwidth, multi DOF robotic arms and hands capable of proprioceptive force feedback from the world. This thesis briefly outlines the physics that govern the dynamics of robotic manipulators. It further covers various actuators and transmissions along with their dynamic and mechanical properties. Finally, this thesis covers overall robotic arm and hand architecture; where degrees of freedom can be placed and how actuators can be mounted and transmitted.

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

2020

Author dc:creator

• Massie, Mason(Massie R.)

Advisor dc:contributor.advisor

• Sangbae Kim.

• Mechanical Engineering.

Statement dc:rights

• MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.

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/1721.1/127904

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/127904