{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/49617"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/49617","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Design considerations for a reconfigurable delta robot","abstract":"\"One project, the design of a reconfigurable Delta robot, motivated three different works which comprise this thesis. In Chapters 1-2, I discuss the application of multiobjective design principles to decide appropriate ranges of reconfigurability in a Delta robot. I show that the selection reconfigurable ranges in a system designed for multiability through continuous reconfiguration can be accomplished by generating points along an ``expanded Pareto set\"\"-- each of these points representing a fully reconfigurable design. In Chapters 3-4 I discuss dynamically modeling compliance in a structure, and use the derivation to formulate the co-design problem for a simple pick-and-place manipulator made up of one compliant link. After displaying existing results, I discuss the current state of this research and potential next steps. Finally, in Chapter 5, I outline the practical considerations that comprised my construction of a reconfigurable Delta robot.\"","abstract_html":""One project, the design of a reconfigurable Delta robot, motivated three different works which comprise this thesis. In Chapters 1-2, I discuss the application of multiobjective design principles to decide appropriate ranges of reconfigurability in a Delta robot. I show that the selection reconfigurable ranges in a system designed for multiability through continuous reconfiguration can be accomplished by generating points along an ``expanded Pareto set""-- each of these points representing a fully reconfigurable design. In Chapters 3-4 I discuss dynamically modeling compliance in a structure, and use the derivation to formulate the co-design problem for a simple pick-and-place manipulator made up of one compliant link. After displaying existing results, I discuss the current state of this research and potential next steps. Finally, in Chapter 5, I outline the practical considerations that comprised my construction of a reconfigurable Delta robot."","abstract_has_math":false,"creators":["Arena, Jeffrey"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Systems & Entrepreneurial Engr","degree_department":null,"school":null,"contributors":["Allison, James T."],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2014,"date_issued":"2014-05-30T16:52:35Z","date_published":"2014-05-30T16:52:35Z","updated_at":"2026-07-22T22:25:38Z","subjects":["Design","Optimization"],"languages":["en"],"rights":["Copyright 2014 Jeffrey D. 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