Digital Commons Network^™

Design, Development, And Control Of A Robotic Gripper For Activities Of Daily Living (Adl) Assistance., Jaime Rafael Hernandez

Theses and Dissertations

This research contributes to developing a robotic gripper designed to improve the performance of assistive robots to help people with upper limb impairment due to stroke, injury, and other trauma. As developed in this research, the gripper for assistive robots (GAR) can be an alternative solution to the existing robotic grippers increasing the benefits in different ways, including the cost/benefits ratio and the range of graspable objects.

The GAR has been designed with simplicity in mind with a minimum viability approach. The design, construction, control, and operation of this robotic hand have been simplified with a minimal number of custom-made …

Origami-Based Design Of Fold States And Stability, Alex Avila

Theses and Dissertations

Origami is a potentially elegant and powerful source of inspiration for many engineering designs. The viable shapes (fold states) of a single device allow it to perform multiple, seemingly contradictory, functions. The fold state is a large factor in the device's performance, but there are challenges in selecting and maintaining those fold states. In this thesis we analyze existing concepts for overcoming these challenges. Those concepts are compared with those that occur in origami-based devices. From this analysis fundamental gaps were identified, specifically, shortcoming in the terminology used to refer to (1) non-flat origami states and (2) sets of facets …

Selecting Surrogate Folds For Use In Origami-Based Mechanisms And Products, Jason Tyler Allen

Theses and Dissertations

Origami-based design is increasing in popularity as its benefits and advantages become better understood and explored. However, many opportunities still exist for the application of origami principles to engineered designs, especially in the use of non-paper, thick sheet materials. One specific area utilizing thick sheet materials that is especially promising is origami-based mechanisms that require electrical power transfer applications. Many of these opportunities can be met by the use of surrogate folds. This thesis provides methods and frameworks that can be used by engineers to efficiently select and design surrogate folds for use in origami-based mechanisms and products. Surrogate folds …

Balancing Technical And User Objectives In The Design Of Improved Biomass Cookstoves For Developing Regions Of The World, Kendall Steven Thacker

Theses and Dissertations

Over the past decade a large amount of research has been dedicated in academic literature to improving the technical capabilities of improved cookstoves; primarily the performance efficiency and reduction of emissions. Unfortunately, as published literature has highlighted, the trade-offs that result from placing such a concentrated emphasis on these technical objectives is that improved cookstoves lack the same level of usability as traditional cookstoves. Thus, users often return to using their traditional stoves and the potential impact of the improved cookstoves is never fully realized. In order for improved cookstoves to have greater impact, there must be better balance between …

A Collaborative Conceptual Aircraft Design Environment For The Design Of Small-Scale Uavs In A Multi-University Setting, Joseph Samuel Becar

Theses and Dissertations

In today's competitive global market, there is an ever-increasing demand for highly skilled engineers equipped to perform in teams dispersed over several time-zones by geography. Aerospace Partners for the Advancement of Collaborative Engineering (AerosPACE) is a senior design capstone program co-developed by academia and industry to help students develop the necessary skills to excel in the aerospace industry by challenging them to design, build, and fly an unique unmanned aerial vehicle (UAV). Students with little to no experience designing UAVs are put together in teams with their peers from geographically dispersed universities. This presents a significant challenge for the students …

Mechanical Properties And Mems Applications Of Carbon-Infiltrated Carbon Nanotube Forests, Walter C. Fazio

Theses and Dissertations

This work explores the use of carbon-infiltrated carbon nanotube (CI-CNT) forests as a material for fabricating compliant MEMS devices. The impacts of iron catalyst layer thickness and carbon infiltration time are examined. An iron layer of 7nm or 10nm with an infiltration time of 30 minutes produces CI-CNT best suited for compliant applications. Average maximum strains of 2% and 2.48% were observed for these parameters. The corresponding elastic moduli were 5.4 GPa and 4.1 GPa, respectively. A direct comparison of similar geometry suggested CI-CNT is 80% more flexible than single-crystal silicon. A torsional testing procedure provided an initial shear modulus …

Integrating Engineering And Communication Tools For The Automation Of Design Rationale Capture, Kenneth John Mix

Theses and Dissertations

Product development is continually becoming more challenging as global competition requires more efficient design methods. The reuse of company knowledge, specifically the design rationale that occurs during projects is essential to success. This thesis presents a method for integrating engineering and communication tools for purposes of automating the capture of communication-based design rationale. The method is based on four basic principles: to integrate, to make data retrievable, to minimize user interaction, and to store as much DR as possible. The core method consists of two primary operations, the first being to capture the design rationale, and the second being to …

Design And Evaluation Of A Humanoid Robot For Autism Therapy, Daniel J. Ricks

Theses and Dissertations

Recent evidence has shown that children with autism may behave more pro-socially when interacting with a robot than with a human. The objective of this research is to develop a robotic system for use in the clinical treatment of children with autism. The governing assumption behind this thesis is that using a robot in a clinic, under the guidance of a trained therapist, may lead to therapeutic benefits that may not be achieved without the presence of the robot. The robot Troy was developed to fulfill such a role in a clinical setting. The primary objective was to design a …

Characterizing Material Property Tradeoffs Of Polycrystalline Diamond For Design Evaluation And Selection, Neil David Haddock

Theses and Dissertations

Polycrystalline diamond (PCD) is used as a cutting tool in many industries because of its superior wear resistance compared to single crystal diamond. Engineers who design new PCD materials must have an understanding of the tradeoffs between material properties in order to tailor a product for different applications. Two competing material properties that are often encountered in PCD are transverse rupture strength and thermal-resistance. Thermal-resistance is directly related to the cobalt content of PCD, and is the ability of the material to withstand thermally induced degradation. In this thesis, we characterize the tradeoff boundary between transverse rupture strength and cobalt …

High-Level, Product Type-Specific Programmatic Operations For Streamlining Associative Computer-Aided Design, Nathan W. Scott

Theses and Dissertations

Research in the field of Computer Aided Design (CAD) has long focused on reducing the time and effort required of engineers to define three dimensional digital product models. Parametric, feature-based modeling with inter-part associativity allows complex assembly designs to be defined and re-defined while maintaining the vital part-to-part interface relationships. The top-down modeling method which uses assembly level control structures to drive child level geometry has proved valuable in maintaining these interfaces. Creating robust parametric models like these, however, is very time consuming especially since there can be hundreds of features and thousands of mathematical expressions to create. Even if …

Optimization Constrained Cad Framework With Iso-Performing Design Generator, Kelly Eric Bowman

Theses and Dissertations

Design decisions have a large impact early in the design process. Optimization methods can help engineers improve their early decision making, however, design problems are often ill-posed for optimization at this early stage. This thesis develops engineering methods to use optimization during embodiment design, despite these difficulties. One common difficulty in designing mechanical systems is in handling the effects that design changes in one subsystem have on another. This is made more difficult in early engineering design, when design information is preliminary. Increased efforts have been made to use numerical optimization methods in early engineering design – because of the …

Bio-Surfaces And Geometric References For A Standardized Biomechanical Design Methodology For Mass Customization, Kimberly A. Jensen

Theses and Dissertations

This dissertation presents a method for the design of customizable products that interface with the human body. The method presented involves first, a consistent method of capturing and representing the human model so that the model can be used with CAx tools and solid modeling techniques. Second, it provides a design methodology based on feature structure planning and assembly modeling that provides a consistent structure to the design process so that it can be reused and parameterized. Third, a strategy for identifying parametric variables that are referenced to the human body is introduced. The core of this method is the …

Structuring Emperical Methods For Reuse And Efficiency In Product Development Processes, Marshall Edwin Bare

Theses and Dissertations

Product development requires that engineers have the ability to predict product performance. When product performance involves complex physics and natural phenomena, mathematical models are often insufficient to provide accurate predictions. Engineering companies compensate for this deficiency by testing prototypes to obtain empirical data that can be used in place of predictive models. The purpose of this work is to provide techniques and methods for efficient use of empirical methods in product development processes. Empirical methods involve the design and creation of prototype hardware and the testing of that hardware in controlled environments. Empirical methods represent a complete product development sub-cycle …

An Evaluation Of Attributes And Competencies For Manufacturing Engineering Technology Graduates, Loni S. Williamson

Theses and Dissertations

The purpose of this study is to determine the required attributes and competencies required for a graduate from a manufacturing engineering technology baccalaureate program. A document called “Competencies of Manufacturing Engineering Technology Graduates” was compiled in October 2004. This document lists twelve attributes thought to be important for MET graduates: Leadership, Professionalism, Creativity and Problem Solving, Management, Materials, Processes, Quality, Systems, Design, Communication, Safety and Environmental Issues, and Global Awareness. Under each attribute is a list of five to seven competencies creating a total of seventy-three competencies for graduates of an MET baccalaureate program. This list of attributes and competencies …

Incorporating Functionally Graded Materials And Precipitation Hardening Into Microstructure Sensitive Design, Mark Edward Lyon

Theses and Dissertations

The methods of MSD are applied to the design of functionally graded materials. Analysis models are presented to allow the design of compliant derailleur for a case study and constraints are placed on the design. Several methods are presented for relating elements of the microstructure to the properties of the material, including Taylor yield theory, Hill elastic bounds, and precipitation hardening.

Applying n-point statistics to the MSD framework is also discussed. Some results are presented for the information content of the 2-point correlation statistics that follow from the methods used to integrate functionally graded materials into MSD.

For the compliant …

Tools And Metrics For Evaluating Modular Product Concepts Based On Strategic Objectives, Matthew Bailey Strong

Theses and Dissertations

The design of modular products has recently become the focus of significant research in the area of design theory and methodology. This focus is the result of increased awareness of the potential power of modularity to achieve certain product objectives. However, there continues to be a gap between the results of academic research and industrial application. The refinement, consolidation, and extension of this academic research would help design teams who are charged with developing modular products to use these academic findings in real world, industrial applications. The research presented in this document focuses on developing design tools, based on past …