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Full-Text Articles in Mechanical Engineering
Design Of A Cable-Driven Manipulator For Large-Scale Additive Manufacturing, Phillip Chesser
Design Of A Cable-Driven Manipulator For Large-Scale Additive Manufacturing, Phillip Chesser
Masters Theses
Additive manufacturing of concrete is a growing field of research, yet current motion platforms do not offer viable routes towards large scale deployable systems. This thesis presents the design and analysis of a novel cable-driven robot for use in large scale additive manufacturing. The system developed, termed SkyBAAM, is designed to be easily deployable to a construction site for on-site additive manufacturing of buildings and other large structures. The design philosophy behind this system is presented. Analysis of this system first explores the kinematics, and stiffness as a function of cable tension. Analysis of the workspace and singularities is also …
Control And Coordination In A Networked Robotic Platform, Krishna Chaitanya Kalavacharla
Control And Coordination In A Networked Robotic Platform, Krishna Chaitanya Kalavacharla
Masters Theses
Control and Coordination of the robots has been widely researched area among the swarm robotics. Usually these swarms are involved in accomplishing tasks assigned to them either one after another or concurrently. Most of the times, the tasks assigned may not need the entire population of the swarm but a subset of them. In this project, emphasis has been given to determination of such subsets of robots termed as ”flock” whose size actually depends on the complexity of the task. Once the flock is determined from the swarm, leader and follower robots are determined which accomplish the task in a …