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Full-Text Articles in Arts and Humanities
Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West
Orthoplanar Spring Based Compliant Force/Torque Sensor For Robot Force Control, Jerry West
USF Tampa Graduate Theses and Dissertations
A compliant force/torque sensor for robot force control has been developed. This thesis presents methods of designing, testing, and implementing the sensor on a robotic system. The sensor uses an orthoplanar spring equipped with Hall-effect sensors to measure one component of force and two moment components. Its unique design allows for simple and cost effective manufacturing, high reliability, and compactness. The device may be used in applications where a robot must control contact forces with its environment, such as in surface cleaning tasks, manipulating doors, and removing threaded fasteners. The compliant design of the sensor improves force control performance and …
Understanding Operating Speed Variation Of Multilane Highways With New Access Density Definition And Simulation Outputs, Bing Huang
USF Tampa Graduate Theses and Dissertations
Traffic speed is generally considered a core issue in roadway safety. Previous studies show that faster travel is not necessarily associated with an increased risk of being involved in a crash. When vehicles travel at the same speed in the same direction (even high speeds, as on interstates), they are not passing one another and cannot collide as long as they maintain the same speed. Conversely, the frequency of crashes increases when vehicles are traveling at different rates of speed. There is no doubt that the greater speed variation is, the greater the number of interactions among vehicles is, resulting …