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Full-Text Articles in Mechanical Engineering

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 ...


A Remotely Operated Multi-Tracked Vehicle For Subterranean Exploration Of Gopher Tortoise Burrows, William Keese Jan 2011

A Remotely Operated Multi-Tracked Vehicle For Subterranean Exploration Of Gopher Tortoise Burrows, William Keese

Graduate Theses and Dissertations

The gopher tortoise is a land tortoise living in the southeastern United States. It is a species in decline and is listed as threatened or endangered in six different states. The gopher (as commonly referred) digs burrows that it uses for many reasons and spends most of its time underground. Problems occur when trying to estimate a population because a gopher tortoise digs more than one burrow. This thesis demonstrates an innovative way to survey and investigate a gopher tortoise burrow hole by using a multi-tracked remotely operated vehicle. The vehicle carried two cameras (fore and aft) and was equipped ...


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 ...