Design of a re-configurable test stand for a multi degree of freedom compliant robot prototype

A test stand was designed and constructed to compress a compliant robot prototype, while 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 utilizes a stepper motor and a counterweighted pulley system to apply a compressive force through a single monofilament line. The test stand can accommodate prototypes up to 25 cm in length, and can apply a compressive force up to 6.5N with a resolution of ±0.04N. The displacement can be measured accurately to ±0.064cm.

Department dc:contributor.department

Massachusetts Institute of Technology. Dept. of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2009

Author dc:creator

• Klenk, Daniel E

Advisor dc:contributor.advisor

• Martin L. Culpepper.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

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

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/54469

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/54469