Design considerations for a reconfigurable delta robot

"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."

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Systems & Entrepreneurial Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2014

Author dc:creator

• Arena, Jeffrey

Contributors dc:contributor

• Allison, James T.

• Design
• Optimization

Statement dc:rights

• Copyright 2014 Jeffrey D. Arena

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/49617

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/49617