Optimal shape and motion planning for dynamic planar manipulation
Name
1005737489-MIT.pdf
Description
Full printable version
Size
5 MB
Format
Adobe PDF
Checksum (MD5)
16c3213be6d78091b41704be6c3e0c8c
Author(s)
Taylor, Orion Thomas
Advisor(s)
Alberto Rodriguez.
Date Issued
2017
Publisher
Massachusetts Institute of Technology
Abstract
This thesis presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric, which force the solution to be compatible with the dynamics of frictional hard contact while satisfying the task. We illustrate the approach with the example problem of moving a disk along a desired path or trajectory, and we verify it by applying it to three classical design problems: the rolling brachistochrone, the design of teeth of involute gears, and the pitch curve of rolling cams. We conclude with a case study involving the optimization and real implementation of the shape and motion of a dynamic throwing arm.
Description
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 59-61).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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