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The Winch-Bot : a cable-suspended, under-actuated robot utilizing parametric self-excitation

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dc.contributor.advisor H. Harry Asada. en_US
dc.contributor.author Cunningham, Daniel Philip en_US
dc.contributor.other Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.date.accessioned 2010-01-07T20:55:33Z
dc.date.available 2010-01-07T20:55:33Z
dc.date.copyright 2009 en_US
dc.date.issued 2009 en_US
dc.identifier.uri http://hdl.handle.net/1721.1/50576
dc.description Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009. en_US
dc.description Includes bibliographical references (leaf 71). en_US
dc.description.abstract A simple, compact, yet powerful robotic winch, called "Winch-Bot," is presented in this thesis. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented. en_US
dc.description.statementofresponsibility by Daniel Philip Cunningham. en_US
dc.format.extent 71 leaves en_US
dc.language.iso eng en_US
dc.publisher Massachusetts Institute of Technology en_US
dc.rights M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. en_US
dc.rights.uri http://dspace.mit.edu/handle/1721.1/7582 en_US
dc.subject Mechanical Engineering. en_US
dc.title The Winch-Bot : a cable-suspended, under-actuated robot utilizing parametric self-excitation en_US
dc.title.alternative Cable-suspended, under-actuated robot utilizing parametric self-excitation en_US
dc.type Thesis en_US
dc.description.degree S.M. en_US
dc.contributor.department Massachusetts Institute of Technology. Dept. of Mechanical Engineering. en_US
dc.identifier.oclc 464238757 en_US


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