Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 2 of 2
Full-Text Articles in Physics
Design And Analysis Of Marangoni-Driven Robotic Surfers, Mitchel L. Timm
Design And Analysis Of Marangoni-Driven Robotic Surfers, Mitchel L. Timm
Dissertations, Master's Theses and Master's Reports
We designed and experimentally studied the dynamics of two robotic systems that surf along the water-air interface. The robots were self-propelled by means of creating and maintaining a surface tension gradient resulting from an asymmetric release of isopropyl alcohol (IPA). The imbalance in the distribution of surface tension surrounding the robots generates a propulsive force commonly referred to as Marangoni propulsion. First, we considered a single surfer, which was custom-made with novel control mechanisms that allow for both forward motion and steering to be remotely adjusted solely through the manipulation of local surface stresses. We analyzed the performance of this …
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
Dual 7-Degree-Of-Freedom Robotic Arm Remote Teleoperation Using Haptic Devices, Yu-Cheng Wang
USF Tampa Graduate Theses and Dissertations
A teleoperated system of dual redundant manipulator will be controlled in this thesis. The robot used with the dual redundant manipulator in this thesis is Baxter. Baxter’s redundant robot arms are 7-degree-of-freedom arms. The problem that will be solved in this thesis is optimization of the 7-degree-of-freedom robot arms. The control algorithm of the 7-degree-of-freedom robot arms will be discussed and built. A simulation program will be built to test the control algorithm. Based on the control algorithm, a teleoperation system will be created for Baxter. The controller used is Omni, which is a six-joint haptic device. Omni will also …