Engineering Commons^™

A Benchtop Robotic Automation Approach For Manufacturing Prefilled Syringes, Yehua Zhong

All Theses

Automation and robotics have become a staple in the biological manufacturing sector due to their ability to efficiently work without operator inputs, with a high degree of accuracy and repeatability. Industrial robotic arms, in particular, present themselves as valuable tools for biological manufacturing scenarios that require customized solutions due to their ease of programming and flexibility. The traditional hospital-focused healthcare system was organically developed to address acute conditions, however, in recent years, due to the unprecedented occurrence of emergencies happening more frequently, fast and efficient drug production becomes important [17]. This thesis represents the use of a benchtop robot and …

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 …

Autonomous Material Refill For Swarm 3d Printing, William C. Jones

Mechanical Engineering Undergraduate Honors Theses

3D printing currently offers robust and cheap rapid prototyping solutions. While standard 3D printing remains at the periphery of mass production, the technology serves as a starting point for the development of swarm manufacturing. Since swarm manufacturing is predicated upon autonomy, swarm technology companies such as AMBOTS are seeking to minimize human involvement in the swarm’s functions. At present, the 3D printing swarm consists of the printers, a transporter which can take them between job sites, and the floor tiles which provide power and support the build surfaces. To add to this ecosystem, this project is focused on the design …

A Study Of Reduced Activation Ferritic Martensitic Metal Core Wire For Wire Arc Additive Manufacturing, Alexander L. Reichenbach

Electronic Theses and Dissertations

This study seeks to determine the technical feasibility of fabricating reduced activation ferritic martensitic (RAFM) steel parts, using a wire arc additive manufacturing (WAAM) process. The WAAM process, manufactures a part by depositing layers of metal onto a substrate to build a large scale near net shape part. RAFM alloy steels are next generation steels designed to resist radiation effects in the radiation intense working environments, such as nuclear reactors. To achieve this, process development and testing to design the WAAM production process with the custom RAFM filler wire was carried out. Several welding waveform modes were tested, and it …

Additive Manufacturing Using Robotic Manipulators, Fdm, And Aerosol Jet Printers., Alexander Curry

Electronic Theses and Dissertations

Additive manufacturing has created countless new opportunities for fabrication of devices in the past few years. Advances in additive manufacturing continue to change the way that many devices are fabricated by simplifying processes and often lowering cost. Fused deposition modeling (FDM) is the most common form of 3D printing. It is a well-developed process that can print various plastic materials into three-dimensional structures. This technology is used in a lot of industries for rapid prototyping and sometimes small batch manufacturing. It is very inexpensive, and a prototype can be created in a few hours, rather than days. This is useful …

Design Of A Cable-Driven Manipulator For Large-Scale Additive Manufacturing, Phillip Chesser

Masters Theses

Additive manufacturing of concrete is a growing field of research, yet current motion platforms do not offer viable routes towards large scale deployable systems. This thesis presents the design and analysis of a novel cable-driven robot for use in large scale additive manufacturing. The system developed, termed SkyBAAM, is designed to be easily deployable to a construction site for on-site additive manufacturing of buildings and other large structures. The design philosophy behind this system is presented. Analysis of this system first explores the kinematics, and stiffness as a function of cable tension. Analysis of the workspace and singularities is also …

System Integration Of C-Arm Robotic Prototype Using Motion Capture Guidance For Accurate Repositioning, Alireza Yazdanshenas

Mechanical Engineering Theses

One of the important surgical tools in spinal surgery is the C-Arm X-ray System. The C-Arm is a large “C” shaped and manually maneuvered arm that provides surgeons and X-ray technicians the ability to take quick quality X-rays during surgery. Because of its five degrees of freedom, the C-Arm can be manually maneuvered around the patient to provide many angles and perspectives, ensuring surgical success.

This system works fine for most surgical procedures but falls short when the C-Arm must be moved out of the way for complicated surgical procedures.

The aim of this thesis is to develop an accurate …

Design Of A Scara Based Mobile 3d Printing Platform, Zachary Hyden

Mechanical Engineering Undergraduate Honors Theses

Currently 3D printers rely heavily on people to run them, there is no automatic way to start a new print after one has finished. On top of this 3D printers are limited in the area they can print on. Even though the additive manufacturing market is rapidly growing and is increasingly being used in product manufacturing there has yet to be a solution to this problem. This research proposes using mobile 3D printing robots to solve both of these issues. The proposed prototype utilizes a Selective Compliance Assembly Robot Arm (SCARA) based robot capable of cooperatively manufacturing parts. This allows …

Remotely Controlled Industrial Robotic Arm And Simulation Of Automated Thermal Furnace, Prince Mehandi Ratta

Dissertations, Master's Theses and Master's Reports

The right execution of controllers ensures the correct analysis of information, generating efficient results and better optimizing the system. In this report, two controllers were designed. Firstly, a remotely controlled robotic arm, since there are no such type commercially available controllers. Moreover, robotic platforms are costly, so students and researchers are often unable to learn the concepts of programming industrial robots. This project makes a non-destructive, remotely-controlled robotic arm to better teach students and researchers about programming and control of robotic arms. Secondly, simulation of an automated thermal furnace for ArcelorMittal on SIMULINK, which is used for the annealing process …

A Scalable, Chunk-Based Slicer For Cooperative 3d Printing, Jace J. Mcpherson

Computer Science and Computer Engineering Undergraduate Honors Theses

Cooperative 3D printing is an emerging technology that aims to increase the 3D printing speed and to overcome the size limit of the printable object by having multiple mobile 3D printers (printhead-carrying mobile robots) work together on a single print job on a factory floor. It differs from traditional layer-by-layer 3D printing due to requiring multiple mobile printers to work simultaneously without interfering with each other. Therefore, a new approach for slicing a digital model and generating commands for the mobile printers is needed, which has not been discussed in literature before. We propose a chunk-by-chunk based slicer that divides …