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Full-Text Articles in Mechanical Engineering

Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West Mar 2017

Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West

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 ...


Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali Nov 2015

Kinematic Control Of Redundant Mobile Manipulators, Mustafa Mashali

Graduate Theses and Dissertations

A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine the inverse kinematics of a mobile ...


Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang Sep 2015

Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang

Graduate Theses and Dissertations

A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will ...


Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar Jan 2013

Human Intention Recognition Based Assisted Telerobotic Grasping Of Objects In An Unstructured Environment, Karan Hariharan Khokar

Graduate Theses and Dissertations

In this dissertation work, a methodology is proposed to enable a robot to identify an object to be grasped and its intended grasp configuration while a human is teleoperating a robot towards the desired object. Based on the detected object and grasp configuration, the human is assisted in the teleoperation task. The environment is unstructured and consists of a number of objects, each with various possible grasp configurations. The identification of the object and the grasp configuration is carried out in real time, by recognizing the intention of the human motion. Simultaneously, the human user is assisted to preshape over ...


Utilizing A Computational Model For The Design Of A Passive Dynamic Walker, Craig Alan Honeycutt Jan 2011

Utilizing A Computational Model For The Design Of A Passive Dynamic Walker, Craig Alan Honeycutt

Graduate Theses and Dissertations

Recent interest in using passive dynamic walkers (PDWs) for gait rehabilitation studies has presented a need for a robust, easily built mechanism. Unfortunately, these passive robots are hypersensitive to many variables outside of the usual design considerations that are studied when constructing them. By accentuating previous failures instead of suppressing them, this thesis presents a number of problematic situations commonly experienced when testing and tuning a PDW.

Further, through a complete design of a 4-legged PDW with knees, simple design axioms brought about by myself and others are put into a practical context and applied directly to design. This thesis ...


Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence Jan 2011

Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence

Graduate Theses and Dissertations

The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented.

In order to execute macro ADL tasks, such as a "go to and pick up ...