Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 3 of 3
Full-Text Articles in Mechanical Engineering
Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein
Control Design And Implementation Of An Active Transtibial Prosthesis, Joseph Klein
Master's Theses (2009 -)
Prior work at Marquette University developed the Marquette Prosthesis, an active transtibial prosthesis that utilized a torsional spring and a four-bar mechanism. The controls for the Marquette Prosthesis implemented a finite state control algorithm to determine the state of gait of the amputee along with two lower level controllers, a PI moment controller to control the moment during stance and a PID position controller to control the position during stance. The Marquette Prosthesis was successful in mimicking the gait profile presented by Winter. However, after completing human subject testing, the Marquette Prosthesis was insufficient in trying to match the gait …
Development Of A Velocity Metric For Rigid-Body Planar Motion, Luis Ernesto Criales Escobar
Development Of A Velocity Metric For Rigid-Body Planar Motion, Luis Ernesto Criales Escobar
Master's Theses (2009 -)
Two motions of motion quality have been developed for planar motion. They are the "best motion measure" and the "velocity metric". The "best motion measure" identifies the best motion for a given displacement. The "velocity metric" quantifies the discrepancy between two planar motions for the same rigid body.
The best motion measure compares the motion of each particle on the body to an "ideal", but usually unobtainable, motion. This ideal motion moves each particle from its current position to its desired position on a straight-line path. Although the ideal motion is not a valid rigid body motion, this does not …
Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping, Jacob Ames Ziesmer
Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping, Jacob Ames Ziesmer
Master's Theses (2009 -)
The goal of this thesis is to move a step towards the solution of the bin picking problem. A novel metamorphic end effector is proposed, tested for proof of concept and analyzed using standard techniques of degrees of freedom and graph theory as well as a classical dynamic analysis. Once proof of concept was achieved, the results from the analysis were formed into an optimization program with the hope of finding a more stable, predictable mechanism.