Design architecture for dynamic low inertia multi DOF robotic manipulators
Name
1197627537-MIT.pdf
Size
3.2 MB
Format
Adobe PDF
Checksum (MD5)
2611041dc7f33cc710198d9dec6994ed
Author(s)
Massie, Mason(Massie R.)
Advisor(s)
Sangbae Kim.
Date Issued
2020
Publisher
Massachusetts Institute of Technology
Abstract
This thesis is intended as a background for robotic designers interested in creating low inertia, high bandwidth, multi DOF robotic arms and hands capable of proprioceptive force feedback from the world. This thesis briefly outlines the physics that govern the dynamics of robotic manipulators. It further covers various actuators and transmissions along with their dynamic and mechanical properties. Finally, this thesis covers overall robotic arm and hand architecture; where degrees of freedom can be placed and how actuators can be mounted and transmitted.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
Cataloged from the official PDF of thesis.
Includes bibliographical references (page 60).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
MIT theses may be protected by copyright. Please reuse MIT thesis content according to the MIT Libraries Permissions Policy, which is available through the URL provided.
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