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Design Of A Proprioceptive Actuator Utilizing A Cycloidal Gearbox, Craig John Kimball
Design Of A Proprioceptive Actuator Utilizing A Cycloidal Gearbox, Craig John Kimball
Master's Theses
Legged robotics creates the demand for high torque compact actuators able to develop high instantaneous torque. Proprioceptive actuator design theory is a design theory that removes the need for a torque feedback device and relies on the stiffness in the leg for absorbing the high Ground Impact Forces created by walking locomotion. It utilizes a high torque density motor paired with a gearbox with a high gear ratio for torque multiplication. Previously work has been done to design a proprioceptive actuator design that utilizes a planetary gearbox to create a modular low-cost actuator for legged robotics. The purpose of this …
Sparse Aperture Speckle Interferometry Telescope Active Optics Control System, Matthew Clause
Sparse Aperture Speckle Interferometry Telescope Active Optics Control System, Matthew Clause
Master's Theses
A conventional large aperture telescope required for binary star research is typically cost prohibitive. A prototype active optics system was created and fitted to a telescope frame using relatively low cost components. The active optics system was capable of tipping, tilting, and elevating the mirrors to align reflected star light. The low cost mirror position actuators have a resolution of 31 nm, repeatable to within 16 nm. This is accurate enough to perform speckle analysis for the visible light spectrum. The mirrors used in testing were not supported with a whiffletree and produced trefoil-like aberrations which made phasing two mirrors …