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Full-Text Articles in Applied Mechanics
Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri
Modeling, Control And Estimation Of Reconfigurable Cable Driven Parallel Robots, Adhiti Raman Thothathri
All Dissertations
The motivation for this thesis was to develop a cable-driven parallel robot (CDPR) as part of a two-part robotic device for concrete 3D printing. This research addresses specific research questions in this domain, chiefly, to present advantages offered by the addition of kinematic redundancies to CDPRs. Due to the natural actuation redundancy present in a fully constrained CDPR, the addition of internal mobility offers complex challenges in modeling and control that are not often encountered in literature.
This work presents a systematic analysis of modeling such kinematic redundancies through the application of reciprocal screw theory (RST) and Lie algebra while …
Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi
Model Based Force Estimation And Stiffness Control For Continuum Robots, Vincent A. Aloi
Doctoral Dissertations
Continuum Robots are bio-inspired structures that mimic the motion of snakes, elephant trunks, octopus tentacles, etc. With good design, these robots can be naturally compliant and miniaturizable, which makes Continuum Robots ideal for traversing narrow complex environments. Their flexible design, however, prevents us from using traditional methods for controlling and estimating loading on rigid link robots.
In the first thrust of this research, we provided a novel stiffness control law that alters the behavior of an end effector during contact. This controller is applicable to any continuum robot where a method for sensing or estimating tip forces and pose exists. …
An Experimental Study Towards Underwater Propulsion System Using Structure Borne Traveling Waves, Shreyas Suhas Gadekar
An Experimental Study Towards Underwater Propulsion System Using Structure Borne Traveling Waves, Shreyas Suhas Gadekar
Dissertations, Master's Theses and Master's Reports
The method of generating steady-state structure-borne traveling waves underwater in an infinite media creates abundant opportunities in the field of propulsive applications, and they are gaining attention from several researchers. This experimental study provides a framework for harnessing traveling waves in a 1D beam immersed under quiescent water using two force input methods and providing a motion to an object floating on the surface of the water.
In this study, underwater traveling waves are tailored using structural vibrations at five different frequencies in the range of 10Hz to 300Hz. The resulting fluid motion provides a propulsive thrust that moves a …