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Full-Text Articles in Mechanical Engineering
Toward The Design Of A Statically Balanced Fully Compliant Joint For Use In Haptic Interfaces, Levi Clifford Leishman
Toward The Design Of A Statically Balanced Fully Compliant Joint For Use In Haptic Interfaces, Levi Clifford Leishman
Theses and Dissertations
Haptic interfaces are robotic force-feedback devices that give the user a sense of touch as they interact with virtual or remote environments. These interfaces act as input devices, mapping the 3-dimensional (3D) motions of the user's hand into 3D motions in a slave system or simulated virtual world. A major challenge in haptic interfaces is ensuring that the user's experience is a realistic depiction of the simulated environment. This requires the interface's design to be such that it does not hinder the user's ability to feel the forces present in the environment. This "transparency" is achieved by minimizing the device's …
Expanding Lamina Emergent Mechanism (Lem) Capabilities: Spherical Lems, Lem Joints, And Lem Applications, Samuel E. Wilding
Expanding Lamina Emergent Mechanism (Lem) Capabilities: Spherical Lems, Lem Joints, And Lem Applications, Samuel E. Wilding
Theses and Dissertations
Lamina Emergent Mechanisms (LEMs) are a class of compliant mechanisms that can be manufactured from sheet goods and possess motion out of the plane of fabrication. LEMs can be designed to perform sophisticated motions. This thesis expands LEM understanding and increases the ability to utilize them in applications by introducing the fundamentals of spherical LEMs, creating joints suitable for LEMs, and providing an example of a LEM application. In this thesis, the fundamentals of spherical LEMs are developed. This includes classification of all possible spherical 4R LEMs and a discussion of the motion characteristics of the various mechanisms. The motion …