Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system
Name
321082006-MIT.pdf
Description
Full printable version
Size
21.45 MB
Format
Adobe PDF
Checksum (MD5)
5696e6b6ed18c5a6d91e833a048fbf68
Author(s)
Menon, Manas Chandran
Advisor(s)
H. Harry Asada.
Date Issued
2008
Publisher
Massachusetts Institute of Technology
Abstract
The design of a multifunctional foot for application to a mobile robotic system for heavy duty manufacturing is presented. The requirements for a target manufacturing task are presented and translated into requirements for the mobile robotic system, and specifically for the feet of this system. This includes: the ability of the feet to change frictional properties, the ability of the foot to operate without a direct power source, and load bearing requirements for heavy duty tooling. The mechanical design to meet these requirements for these feet is presented. Stability analysis is shown, and it is used to determine several design parameters to meet the goals of the project. The development of a series of iterations of prototypes is discussed. Manufacturing techniques, choice of materials, alignment strategies and assembly practices are explained. Appendices include information about several of the important design milestones. A sensing methodology is introduced. Computer simulations of magnetic fields to estimate the effectiveness of this methodology are performed. Experimental results are shown to match the simulations. A final functional prototype is shown. Testing is performed on this prototype to verify that it meets the functional requirements desired for the system.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
Includes bibliographical references (p. 56-57).
Subjects
Mechanical Engineering.
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Department of Mechanical Engineering
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