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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
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
USF Tampa 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 also …
A Remotely Operated Multi-Tracked Vehicle For Subterranean Exploration Of Gopher Tortoise Burrows, William Keese
A Remotely Operated Multi-Tracked Vehicle For Subterranean Exploration Of Gopher Tortoise Burrows, William Keese
USF Tampa 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
Utilizing A Computational Model For The Design Of A Passive Dynamic Walker, Craig Alan Honeycutt
USF Tampa 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 …