Design and control of a semi-passive, heavy-duty paired mobile robot system with application to aircraft wing assembly
Name
712603738-MIT.pdf
Description
Full printable version
Size
19.76 MB
Format
Adobe PDF
Checksum (MD5)
883cdfa2a7150d81fd55701fe3b8b2c9
Author(s)
Menon, Manas Chandran
Advisor(s)
H. Harry Asada.
Date Issued
2010
Publisher
Massachusetts Institute of Technology
Abstract
We describe the development of a robotic system capable of performing a class of manufacturing operations. An example of such an operation is commonly found in aircraft assembly - this demonstrates the immediate applicability of this research. The system utilizes a unique concept - a pair of mobile robots acting on opposite sides of a thin wall. The robots interact with one another through the use of magnetic fields that penetrate this wall. The 'inner' robot is untethered and is controlled by the 'outer' robot. Despite the significant mass of the outer robot, it operates without the aid of physical external supports. Full modeling of the system is presented. We include calculations for forces and torques produced by sets of permanent magnets for any system state. Simplified, tractable versions of this model for the purpose of control are also described. The system is designed to execute closed loop fine position control and large scale locomotion. Experimental results from a functional prototype verify the effectiveness of the design as well as the robustness of a position controller. Numerical optimal control results have been developed for high speed point to point trajectory motion. This 'pair of robots' paradigm could be applicable to a variety of tasks. This work outlines analysis techniques that are useful for such a system at most scales.
Description
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2010.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 126-128).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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