Design of a re-configurable test stand for a multi degree of freedom compliant robot prototype
Name
555969361-MIT.pdf
Description
Full printable version
Size
8.3 MB
Format
Adobe PDF
Checksum (MD5)
145444bf18e9b465895874731e0ed63f
Author(s)
Klenk, Daniel E
Advisor(s)
Martin L. Culpepper.
Date Issued
2009
Publisher
Massachusetts Institute of Technology
Abstract
A test stand was designed and constructed to compress a compliant robot prototype, while measuring the force applied and the displacement of the prototype's end. The prototype is a five degree of freedom, compliant device, which required the design process to preserve these DOF while measuring the force and displacement. To reduce the restriction on the robot's DOF, the final design utilizes a stepper motor and a counterweighted pulley system to apply a compressive force through a single monofilament line. The test stand can accommodate prototypes up to 25 cm in length, and can apply a compressive force up to 6.5N with a resolution of ±0.04N. The displacement can be measured accurately to ±0.064cm.
Description
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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.
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.
Persistent DSpace Link
