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Full-Text Articles in Engineering
Foot-Controlled Supernumerary Robotic Arm: Foot Interfaces And Human Abilities, Brandon William Rudolph
Foot-Controlled Supernumerary Robotic Arm: Foot Interfaces And Human Abilities, Brandon William Rudolph
Graduate Theses - Mechanical Engineering
A supernumerary robotic limb (SRL) is a robotic limb that can act as an extra arm or leg for a human user. An unsolved issue with SRLs is how to operate them well. One possibility is to control an SRL with the foot, which offers the benefit of a third arm because the user’s arms remain unoccupied. While hand interfaces are common, foot interfaces are not well understood. Developing a good foot interface is challenging because of differences between feet and hands, such as the larger inertia of the leg. This thesis presents work to determine some design principles for …
The Axisymmetric Harmonic Element Including Gyroscopic Effects: A Complete Derivation, Zachary Charles Glick
The Axisymmetric Harmonic Element Including Gyroscopic Effects: A Complete Derivation, Zachary Charles Glick
Graduate Theses - Mechanical Engineering
Various types of finite elements have been used in the prediction of critical speeds of turbomachinery. Among these, axisymmetric harmonic elements provide both accurate natural frequency prediction and computational speed. Yet, a full derivation of such an element including gyroscopic effects is not widely available in the relevant literature. In this work, the finite elements for rotordynamics available in the literature are reviewed. Derivations necessary for the axisymmetric harmonic element mass, gyroscopic damping, and stiffness matrices and the equations of motion are clearly expounded using Hamilton’s principle. The formulation is applied to two model shafts, and the comparison of results …
Solar Tracking Using A Parallel Manipulator Mechanism To Achieve Two-Axis Position Tracking, Joseph Otto Hubach
Solar Tracking Using A Parallel Manipulator Mechanism To Achieve Two-Axis Position Tracking, Joseph Otto Hubach
Graduate Theses - Mechanical Engineering
A novel solar tracker is presented that uses a parallel manipulator for the tracking mechanism instead of a traditional serial manipulator. The motivation is to create a solar tracker that displays the advantages of two-axis tracking systems (e.g., increased exposure to incident radiation, and enabling the use of efficient concentrating solar cells) while addressing some of the disadvantages of current two-axis tracking systems (e.g., the difficulties associated with having actuators mounted to moving elements within the mechanism). The mobility of the proposed parallel manipulator is examined using Grübler’s Criterion to establish that the manipulator displays the required two degrees of …
Design Of Vibration Class Laboratory Assignments: Focusing On Broader Application, Ethan Wayne Cating
Design Of Vibration Class Laboratory Assignments: Focusing On Broader Application, Ethan Wayne Cating
Graduate Theses - Mechanical Engineering
Courses in vibration taught at Rose-Hulman Institute of Technology are designed to blend classroom discussion of the science of vibration with practical, hands-on applications. The laboratory portion of the undergraduate course in vibration focuses on two areas: (1) system identification for single- and multi-degree-of-freedom systems in the frequency domain through sine-sweep shake testing; and (2) identifying natural frequencies and mode shapes for continuous systems via experimental modal analysis using frequency response data collected through a roving hammer test. Modal analysis is performed using an in-house MATLAB-based program known as Easy Modal Analysis Program (EMAP). The goals of this thesis are …