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Pseudo-Rigid-Body Models For Approximating Spatial Compliant Mechanisms Of Rectangular Cross Section, Issa Ailenid Ramirez
Pseudo-Rigid-Body Models For Approximating Spatial Compliant Mechanisms Of Rectangular Cross Section, Issa Ailenid Ramirez
USF Tampa Graduate Theses and Dissertations
The objective of the dissertation is to develop and describe kinematic models (Pseudo-Rigid-Body Models) for approximating large-deflection of spatial (3D) cantilever beams that undergo multiple bending motions thru end-moment loading. Those models enable efficient design of compliant mechanisms, because they simply and accurately represent the bending and stiffness of compliant beams.
To accomplish this goal, the approach can be divided into three stages: development of the governing equations of a flexible cantilever beam, development of a PRBM for axisymmetric cantilever beams and the development of spatial PRBMs for rectangular cross-section beam with multiple end moments.
The governing equations of a …
Using Embedded Systems To Determine The Configuration Of A Static Wheelchair Mounted Robotic Arm, Daniel Ashley
Using Embedded Systems To Determine The Configuration Of A Static Wheelchair Mounted Robotic Arm, Daniel Ashley
USF Tampa Graduate Theses and Dissertations
The calibration of a 9 degree of freedom (DOF) robotic manipulator using multiple three axis accelerometers and an embedded system will be accomplished in this work. The 9-DOF robotic system used in this study is a 7-DOF robotic arm attached to a 2-DOF power wheelchair. Combined they create a Wheelchair Mounted Robotic Arm (WMRA). The problem that will be solved by this thesis is the calibration of the robotic system during start up. The 7 DOF robotic arm is comprised of rotational joints only. These joints have dual channel encoders to determine the joint position, among other useful data. The …
A 3-D Pseudo-Rigid-Body Model For Rectangular Cantilever Beams With An Arbitrary Force End-Load, Jairo Renato Chimento
A 3-D Pseudo-Rigid-Body Model For Rectangular Cantilever Beams With An Arbitrary Force End-Load, Jairo Renato Chimento
USF Tampa Graduate Theses and Dissertations
This dissertation introduces a novel three-dimensional pseudo-rigid-body model (3-D PRBM) for straight cantilever beams with rectangular cross sections. The model is capable of capturing the behavior of the neutral axis of a beam loaded with an arbitrary force end-load. Numerical integration of a system of differential equations yields approximate displacement and orientation of the beam's neutral axis at the free end, and curvatures of the neutral axis at the fixed end. This data was used to develop the 3-D PRBM which consists of two torsional springs connecting two rigid links for a total of 2 degrees of freedom (DOF). The …