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Full-Text Articles in Mechanical Engineering
Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West
Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West
USF Tampa Graduate Theses and Dissertations
A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and …
Waterproofing Shape-Changing Mechanisms Using Origami Engineering; Also A Mechanical Property Evaluation Approach For Rapid Prototyping, Andrew Jason Katz
Waterproofing Shape-Changing Mechanisms Using Origami Engineering; Also A Mechanical Property Evaluation Approach For Rapid Prototyping, Andrew Jason Katz
USF Tampa Graduate Theses and Dissertations
My work has been focused on compliant mechanisms, origami engineering, and rapid prototyping. Two of the projects that I worked on were focused on compliant mechanisms and origami engineering. The similar goal of both of those projects was to create an origami membrane whose kinematics mimic that of an existing mechanism. The first project created an origami membrane to mimic the kinematics of a planar shape-changing mechanism. This mechanism was a square shaped unit-cell which could shear, compress, and expand in its own plane. In addition to waterproofing the mechanism, the first project also sought to optimize the dimensions of …
A Planar Pseudo-Rigid-Body Model For Cantilevers Experiencing Combined Endpoint Forces And Uniformly Distributed Loads Acting In Parallel, Philip James Logan
A Planar Pseudo-Rigid-Body Model For Cantilevers Experiencing Combined Endpoint Forces And Uniformly Distributed Loads Acting In Parallel, Philip James Logan
USF Tampa Graduate Theses and Dissertations
This dissertation describes the development and effectiveness of a mathematical model used to predict the behavior of cantilever beams whose loading conditions include parallel combinations of evenly distributed loads and endpoint forces. The large deflection of cantilever beams has been widely studied. A number of models and mathematical techniques have been utilized in predicting the endpoint path coordinates and load-deflection relationships of such beams. The Pseudo-Rigid-Body Model (PRBM) is one such method which replaces the elastic beam with rigid links of a parameterized pivot location and torsional spring stiffness. In this paper, the PRBM method is extended to include cases …
A 3-D Pseudo-Rigid-Body Model For Rectangular Cantilever Beams With An Arbitrary Force End-Load, Jairo Renato Chimento
A 3-D Pseudo-Rigid-Body Model For Rectangular Cantilever Beams With An Arbitrary Force End-Load, Jairo Renato Chimento
USF Tampa Graduate Theses and Dissertations
This dissertation introduces a novel three-dimensional pseudo-rigid-body model (3-D PRBM) for straight cantilever beams with rectangular cross sections. The model is capable of capturing the behavior of the neutral axis of a beam loaded with an arbitrary force end-load. Numerical integration of a system of differential equations yields approximate displacement and orientation of the beam's neutral axis at the free end, and curvatures of the neutral axis at the fixed end. This data was used to develop the 3-D PRBM which consists of two torsional springs connecting two rigid links for a total of 2 degrees of freedom (DOF). The …
Shield Design For Maximum Deformation In Shape-Shifting Surfaces, Daniel Eduardo Perez
Shield Design For Maximum Deformation In Shape-Shifting Surfaces, Daniel Eduardo Perez
USF Tampa Graduate Theses and Dissertations
This research presents the initial studies and results on shield design for Shape-Shifting Surfaces (SSSs) seeking maximum compression and maximum expansion of a unit-cell. Shape-Shifting Surfaces (SSSs) are multilayered surfaces that are able to change shape while maintaining their integrity as physical barriers. SSSs are composed of polygonal unit-cells, which can change side lengths and corner angles. These changes are made possible by each side and corner consisting of at least two different shields, or layers of material. As the layers undergo relative motion, the unit-cell changes shape. In order for the SSS to retain its effectiveness as a barrier, …