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Full-Text Articles in Mechanical Engineering
A Study Of A Novel Modular Variable Geometry Frame Arranged As A Robotic Surface, Christopher James Salisbury
A Study Of A Novel Modular Variable Geometry Frame Arranged As A Robotic Surface, Christopher James Salisbury
UNLV Theses, Dissertations, Professional Papers, and Capstones
The novel concept of a "variable geometry frame" is introduced and explored through a three-dimensional robotic surface which is devised and implemented using triangular modules. The link design is optimized using surplus motor dimensions as firm constraints, and round numbers for further arbitrary constraints. Each module is connected by a passive six-bar mechanism that mimics the constraints of a spherical joint at each triangle intersection. A three dimensional inkjet printer is used to create a six-module prototype designed around surplus stepper motors powered by an old computer power supply as a proof-of-concept example.
The finite element method is applied to …
Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence
Autonomous Mobility And Manipulation Of A 9-Dof Wmra, William Garrett Pence
USF Tampa Graduate Theses and Dissertations
The wheelchair-mounted robotic arm (WMRA) is a 9-degree of freedom (DoF) assistive system that consists of a 2-DoF modified commercial power wheelchair and a custom 7-DoF robotic arm. Kinematics and control methodology for the 9-DoF system that combine mobility and manipulation have been previously developed and implemented. This combined control allows the wheelchair and robotic arm to follow a single trajectory based on weighted optimizations. However, for the execution of activities of daily living (ADL) in the real-world environment, modified control techniques have been implemented.
In order to execute macro ADL tasks, such as a "go to and pick up" …