Coordinated locomotion between robots separated by a surface
Name
820020368-MIT.pdf
Description
Full printable version
Size
8.59 MB
Format
Adobe PDF
Checksum (MD5)
f9959b2db6510dd5ba5864de2773cf26
Author(s)
Marchese, Andrew D. (Andrew Dominic)
Advisor(s)
Daniela Rus.
Date Issued
2012
Publisher
Massachusetts Institute of Technology
Abstract
This SM thesis presents the design, modeling, and experimental verification of a novel, programmable connection mechanism for robots separated by a-surface. The connector uses electropermanent magnets (EPMs) [5] to establish a continuum of clamping force between the robots, enabling the motion of one robot to slave the other during a variety of maneuvers. The author designs a novel, solid-state EPM arrangement capable of generating up to an estimated 890N of clamping force under environmental load conditions. A relationship between geometric and environmental variables and connection assembly performance is first modeled and subsequently experimentally characterized. By implementing these connectors in a custom manufactured pair of assembly robots, the author demonstrates the connection assembly and magnetizing hardware can be compactly fit within a tetherless robot application. This mechanism provides a repeatable, easily-automated alternative to robotic systems that depend on mechanic means to regulate clamping force [6].
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2012.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 69-70).
Subjects
Electrical Engineering and Computer Science.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
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