Engineering Commons^™

Redundant Kinematics Solution For A Combined 6dof Robotic Manipulator And 2dof Part Positioner In A Waam Application, Ethan C. Vals

Masters Theses

A typical wire arc additive manufacturing (WAAM) robot cell consists of a 6 DOF robot manipulator and a 2 DOF part positioner. Since the WAAM process requires a minimum of 5 DOFs, there are three redundant DOFs in the system that can be utilized to improve the robot manipulator positioning during part printing. In this thesis, the redundant kinematics of a manipulator and part positioner robot system are solved and then implemented on an actual robot system. The inverse kinematics of the manipulator and part positioner are solved as a kinematic chain using the pseudo-inverse Jacobian method. The two DOFs …

Dynamic Maneuvers For Satellite On-Orbit Servicing Utilizing Novel Continuum Robotics: Development & Experimentation, Nathan Dalton

Masters Theses

Robotic on-orbit servicing is a developing technology that seeks to increase the longevity and repairability of faulty or aging resident space objects. In this research, the development of a flexible continuum manipulator for a small satellite system that performs low-complexity on-orbit servicing or debris removal is presented. Derivations of manipulator kinematics are described in detail, a non-linear control scheme has been developed, and the accuracy and servicing applications for the prototype are evaluated and discussed. The manipulator has been tested on an air-bearing dynamics simulator, and the results are extensively analyzed. System recommendations and future work suggestions are presented.

Application And Evaluation Of Lighthouse Technology For Precision Motion Capture, Soumitra Sitole

Masters Theses

This thesis presents the development towards a system that can capture and quantify motion for applications in biomechanical and medical fields demanding precision motion tracking using the lighthouse technology. Commercially known as SteamVR tracking, the lighthouse technology is a motion tracking system developed for virtual reality applications that makes use of patterned infrared light sources to highlight trackers (objects embedded with photodiodes) to obtain their pose or spatial position and orientation. Current motion capture systems such as the camera-based motion capture are expensive and not readily available outside of research labs. This thesis provides a case for low-cost motion capture …

Effect Of Arm Motion On Standing Lateral Jump Performance, Arif Ahmed Sohel

Masters Theses

Previous jumping studies have examined the role of arm swing in vertical and horizontal long jump performance, but none have been found which studied the role of arm swing in standing lateral jumps. The purpose of this study was to investigate the effect of arm motion on standing lateral jump performance and to examine the biomechanical mechanisms that may explain differences in jump distance.

A series of lateral jump experiments was performed for two jump cases (free and restricted arms) in which six participants jumped laterally for maximum distance from two in-ground force platforms. A motion capture system collected 3D …

The Effect Of Good Form Running Gait Retraining On Lower Extremity Kinematics And Ground Reaction Forces, Alyssa Schaefbauer

Masters Theses

Running is a popular activity for those trying to get in shape, stay fit, and improve overall health. As running has increased in popularity over the past couple of decades, so has the number of running related injuries. (Higginson, 2009; Statistics and Research, 2016). Interest in running gait research has also increased to address and understand the running related injuries. In addition to reducing injuries, the search for an optimal running form that will improve efficiency is being pursued (Davis, 2005). Good Form Running has become an increasingly popular school of running that seeks to fulfill these needs, but its …