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Full-Text Articles in Engineering
A Definition And Demonstration Of Developable Mechanisms, Trent Karl Zimmerman
A Definition And Demonstration Of Developable Mechanisms, Trent Karl Zimmerman
Theses and Dissertations
There is an increasing need for compact mechanical systems that can accomplish sophisticated tasks. Technologies like ortho-planar and lamina emergent mechanisms (LEMs) have been developed to satisfy needs like these by stowing in planar sheets from which they emerge to perform their function. They can be compact, lightweight, monolithic, scalable, and can withstand harsh environments. They are limited, however, by their base element---planar surfaces. Applications requiring these advantages often include curved surfaces, like aircraft wings, needles, and automotive bodies. In this research, developable mechanisms are presented as a solution to satisfy the need for mechanisms that can conform to or …
Design Optimization And Motion Planning For Pneumatically-Actuated Manipulators, Daniel Mark Bodily
Design Optimization And Motion Planning For Pneumatically-Actuated Manipulators, Daniel Mark Bodily
Theses and Dissertations
Soft robotic systems are becoming increasingly popular as they are generally safer, lighter, and easier to manufacture than their more rigid, traditional counterparts. These advantages allow an increased sense of freedom in both the design and operation of these platforms. In this work, we seek methods of leveraging this freedom to both design and plan motions for two different serial-chain, pneumatically actuated manipulators developed by Pneubotics, a small startup company based in San Francisco. In doing so, we focus primarily on two related endeavors: (1) the optimal kinematic design of these and other similar robots (i.e., choosing link lengths, base …
The Feasibility Of Using A Markerless Motion Capture Sensor (Leap MotionTm Controller) Forquantitative Motor Assessment Intended For A Clinical Setting, Clay Jordan Kincaid
The Feasibility Of Using A Markerless Motion Capture Sensor (Leap MotionTm Controller) Forquantitative Motor Assessment Intended For A Clinical Setting, Clay Jordan Kincaid
Theses and Dissertations
Although upper limb motor impairments are common, the primary tools for assessing and tracking these impairments in a clinical setting are subjective, qualitative rating scales that lack resolution and repeatability. Markerless motion capture technology has the potential to greatly improve clinical assessment by providing quick, low-cost, and accurate tools to objectively quantify motor deficits. Here we lay some of the groundwork necessary to enable markerless motion capture systems to be used in clinical settings. First, we adapted five motor tests common in clinical assessments so they can be administered via markerless motion capture. We implemented these modified tests using a …
Springback Force Considerations In Compliant Haptic Interfaces, Dallin R. Swiss
Springback Force Considerations In Compliant Haptic Interfaces, Dallin R. Swiss
Theses and Dissertations
This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an …
Springback Force Considerations In Compliant Haptic Interfaces, Dallin R. Swiss
Springback Force Considerations In Compliant Haptic Interfaces, Dallin R. Swiss
Theses and Dissertations
This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an …
Characterization Of Smoothness In Wrist Rotations, Layne Hancock Salmond
Characterization Of Smoothness In Wrist Rotations, Layne Hancock Salmond
Theses and Dissertations
Smoothness is a hallmark of healthy movement and has the potential to be used as a marker of recovery in rehabilitation settings. While much past research has focused on shoulder and elbow movements (reaching), little is known about movements of the wrist despite its importance in everyday life and its impairment in many neurological and biomechanical disorders. Our current lack of knowledge regarding wrist movement prevents us from improving current models, diagnosis, and treatment of wrist disorders. In particular, while movement smoothness is a well-known characteristic of reaching movements and may potentially be used to diagnose and monitor recovery from …
Design And Analysis Of A Positively Engaged Continuously Variable Transmission, Brandon Levi Haupt
Design And Analysis Of A Positively Engaged Continuously Variable Transmission, Brandon Levi Haupt
Theses and Dissertations
With energy demands at an all time high, mechanical power systems are under great scrutiny. Substantial efforts are being made throughout the world to reduce energy use in common mechanical systems such as the internal combustion engine and transmission system. Eliminating or reducing efficiency losses in the transmission is a potential source of improving the efficiency of the system. To do so, various alternative types of transmissions are being investigated. At Brigham Young University, development of a Positively Engaged Continuously Variable Transmission (PECVT) is progressing. In addition to the efficiency increases that would occur as a result of operating the …
Achieving Complex Motion With Fundamental Components For Lamina Emergent Mechanisms, Brian Geoffrey Winder
Achieving Complex Motion With Fundamental Components For Lamina Emergent Mechanisms, Brian Geoffrey Winder
Theses and Dissertations
Designing mechanical products in a competitive environment can present unique challenges, and designers constantly search for innovative ways to increase efficiency. One way to save space and reduce cost is to use ortho-planar compliant mechanisms which can be made from sheets of material, or lamina emergent mechanisms (LEMs). This thesis presents principles which can be used for designing LEMs. Pop-up paper mechanisms use topologies similar to LEMs, so it is advantageous to study their kinematics. This thesis outlines the use of planar and spherical kinematics to model commonly used pop-up paper mechanisms. A survey of common joint types is given, …