Engineering Commons^™

Design, Assessment, And Comparison Of Antagonistic, Cable-Driven, Variable Stiffness Actuators, Ryan P. Moore

Master's Theses (2009 -)

This thesis presents the designs and test results for two antagonistic, cable-driven, variable stiffness actuator designs. Each of these variable stiffness actuators is compact, has a large range of controllable stiffness, and limits the inertia at the robotic link it is controlling. Each design consists of a cable running through a set of three pulleys. Tension on the cable displaces a linear spring, which moves along a path designed to achieve quadratic spring behavior. One design uses a variable radius path to achieve the nonlinear elastic behavior while the other uses a fixed radius (lever) path.A quasi-static model of …

Search Methods For Mobile Manipulator Performance Measurement, Samuel Nana Yaw Amoako-Frimpong

Master's Theses (2009 -)

Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial robotics applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both the manipulator and the autonomous vehicle move simultaneously. This thesis analyzes the problem of dynamically evaluating the positioning error of mobile manipulators. In particular, it investigates the use of Bayesian methods to predict the position of the end-effector in the presence of uncertainty propagated from the mobile platform. Simulations and real-world experiments are carried out to test the proposed method against a deterministic …

Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein

Master's Theses (2009 -)

Prior work at Marquette University developed the Marquette Prosthesis, an active transtibial prosthesis that utilized a torsional spring and a four-bar mechanism. The controls for the Marquette Prosthesis implemented a finite state control algorithm to determine the state of gait of the amputee along with two lower level controllers, a PI moment controller to control the moment during stance and a PID position controller to control the position during stance. The Marquette Prosthesis was successful in mimicking the gait profile presented by Winter. However, after completing human subject testing, the Marquette Prosthesis was insufficient in trying to match the gait …

Development Of A Velocity Metric For Rigid-Body Planar Motion, Luis Ernesto Criales Escobar

Master's Theses (2009 -)

Two motions of motion quality have been developed for planar motion. They are the "best motion measure" and the "velocity metric". The "best motion measure" identifies the best motion for a given displacement. The "velocity metric" quantifies the discrepancy between two planar motions for the same rigid body.

The best motion measure compares the motion of each particle on the body to an "ideal", but usually unobtainable, motion. This ideal motion moves each particle from its current position to its desired position on a straight-line path. Although the ideal motion is not a valid rigid body motion, this does not …

Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping, Jacob Ames Ziesmer

Master's Theses (2009 -)

The goal of this thesis is to move a step towards the solution of the bin picking problem. A novel metamorphic end effector is proposed, tested for proof of concept and analyzed using standard techniques of degrees of freedom and graph theory as well as a classical dynamic analysis. Once proof of concept was achieved, the results from the analysis were formed into an optimization program with the hope of finding a more stable, predictable mechanism.