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Full-Text Articles in Mechanical Engineering
A Handy Underwater Solution, Benjamin Murdoch, Matt Ricks, Ales Ball, Jacob Olson, Ethan Durrant, Connor Monson, Lars Watts, Mark Killpack
A Handy Underwater Solution, Benjamin Murdoch, Matt Ricks, Ales Ball, Jacob Olson, Ethan Durrant, Connor Monson, Lars Watts, Mark Killpack
Journal of Undergraduate Research
Hod Lipson once asked an audience at TED, “Where are the robots?” We’ve been waiting for them a long time now and modern robotics still hasn’t caught up with our hopes and dreams. Through our research we hope to address one of the major topics in robotics: movement (or kinematics), and use this moment of exploration to build a new low cost robotic hand capable of use within the exciting realm of aquatics.
Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie
Comparing Efficacy Of Different Dynamic Models For Control Of Underdamped, Antagonistic, Pneumatically Actuated Soft Robots, Morgan Thomas Gillespie
Theses and Dissertations
Research in soft robot hardware has led to the development of platforms that allow for safer performance when working in uncertain or dynamic environments. The potential of these platforms is limited by the lack of proper dynamic models to describe or controllers to operate them. A common difficulty associated with these soft robots is a representation for torque, the common electromechanical relation seen in motors does not apply. In this thesis, several different torque models are presented and used to construct linear state-space models. The control limitations on soft robots are induced by natural compliance inherent to the hardware. This …
Design And Manufacture Of Mesoscale Robot-Actuated Surgical Instruments, Clayton L. Grames
Design And Manufacture Of Mesoscale Robot-Actuated Surgical Instruments, Clayton L. Grames
Theses and Dissertations
Minimally Invasive Surgery (MIS) is a growing field including both laparoscopic androbotic operations. Surgeons and engineers are making continual efforts to reduce the negative effects of procedures on patients. Reducing the size of the surgical instruments is one effective method pursued in this effort. When the instruments approach 3 mm in diameter, they reach a threshold where the entry incisions can be small enough that no scar is left on the patient. Laparoscopic instruments on this scale exist but typically lack wrist articulation and only have 1 degree of freedom (DoF). Alternatively, robotic surgical instruments can achieve high levels of …
A Compliant Mechanism-Based Variable-Stiffness Joint, Jacob Marc Robinson
A Compliant Mechanism-Based Variable-Stiffness Joint, Jacob Marc Robinson
Theses and Dissertations
A review of current variable-stiffness actuators reveals a need for more simple, cost effective, and lightweight designs that can be easily incorporated into a variety of human-interactive robot platforms. This thesis considers the potential use of compliant mechanisms to improve the performance of variable-stiffness actuators. The advantages and disadvantages of various concepts using compliant mechanisms are outlined, along with ideas for further exploration. A new variable-stiffness actuator that uses a compliant flexure as the elastic element has been modeled, built, and tested. This new design involves a variable stiffness joint that makes use of a novel variable transmission. A prototype …
Design And Analysis Of Robotically-Controlled Minimally Invasive Surgical Instruments, Jordan D. Tanner
Design And Analysis Of Robotically-Controlled Minimally Invasive Surgical Instruments, Jordan D. Tanner
Theses and Dissertations
Robot-assisted minimally invasive surgery is used to perform intricate surgical tasks through small incisions using long, slender instruments. The miniaturization of these instruments is advantageous to both surgeon and patient because smaller instruments reduce trauma to surrounding tissue, decrease patient recovery times, and can be used in confined spaces otherwise inaccessible using larger instruments. However, miniaturization of existing designs is limited by friction between moving parts, the volume occupied by the end effector, and manufacturing and assembly constraints. The objective of this work is to develop and analyze concepts that can be used in robot-assisted needlescopic surgery. The concepts are …
Fully Compliant Mechanisms For Bearing Subtraction In Robotics And Space Applications, Ezekiel G. Merriam
Fully Compliant Mechanisms For Bearing Subtraction In Robotics And Space Applications, Ezekiel G. Merriam
Theses and Dissertations
Robotics and space applications represent areas where compliant mechanisms can continue to make a significant impact by reducing costs and weight while improving performance. Because of the nature of these applications, a common need is for bearing replacement mechanisms, or mechanisms that perform the function of a bearing without the complexity and failure modes associated with bearings. Static balancing is a design strategy that attempts to reduce the actuation effort of a mechanism, and has been applied to compliant mechanisms in some applications. Monolithic construction, especially by means of 3D printing technology, is a strategy whereby the mechanism links and …
Design And Evaluation Of A Humanoid Robot For Autism Therapy, Daniel J. Ricks
Design And Evaluation Of A Humanoid Robot For Autism Therapy, Daniel J. Ricks
Theses and Dissertations
Recent evidence has shown that children with autism may behave more pro-socially when interacting with a robot than with a human. The objective of this research is to develop a robotic system for use in the clinical treatment of children with autism. The governing assumption behind this thesis is that using a robot in a clinic, under the guidance of a trained therapist, may lead to therapeutic benefits that may not be achieved without the presence of the robot. The robot Troy was developed to fulfill such a role in a clinical setting. The primary objective was to design a …