{"id":{"repo_id":"mit","oai_identifier":"oai:dspace.mit.edu:1721.1/75717"},"canonical_url":"https://search.dev.ndltd.org/etd/mit/oai:dspace.mit.edu:1721.1/75717","repository":{"repo_id":"mit","name":"MIT","base_url":"https://dspace.mit.edu/oai/request"},"display":{"title":"Coordinated locomotion between robots separated by a surface","abstract":"This SM thesis presents the design, modeling, and experimental verification of a novel, programmable connection mechanism for robots separated by a-surface. The connector uses electropermanent magnets (EPMs) [5] to establish a continuum of clamping force between the robots, enabling the motion of one robot to slave the other during a variety of maneuvers. The author designs a novel, solid-state EPM arrangement capable of generating up to an estimated 890N of clamping force under environmental load conditions. A relationship between geometric and environmental variables and connection assembly performance is first modeled and subsequently experimentally characterized. By implementing these connectors in a custom manufactured pair of assembly robots, the author demonstrates the connection assembly and magnetizing hardware can be compactly fit within a tetherless robot application. This mechanism provides a repeatable, easily-automated alternative to robotic systems that depend on mechanic means to regulate clamping force [6].","abstract_html":"This SM thesis presents the design, modeling, and experimental verification of a novel, programmable connection mechanism for robots separated by a-surface. The connector uses electropermanent magnets (EPMs) [5] to establish a continuum of clamping force between the robots, enabling the motion of one robot to slave the other during a variety of maneuvers. The author designs a novel, solid-state EPM arrangement capable of generating up to an estimated 890N of clamping force under environmental load conditions. A relationship between geometric and environmental variables and connection assembly performance is first modeled and subsequently experimentally characterized. By implementing these connectors in a custom manufactured pair of assembly robots, the author demonstrates the connection assembly and magnetizing hardware can be compactly fit within a tetherless robot application. This mechanism provides a repeatable, easily-automated alternative to robotic systems that depend on mechanic means to regulate clamping force [6].","abstract_has_math":false,"creators":["Marchese, Andrew D. (Andrew Dominic)"],"institution":"Massachusetts Institute of Technology","degree_name":null,"degree_level":null,"degree_discipline":null,"degree_department":"Massachusetts Institute of Technology. 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