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dc.contributor.advisorSangbae Kim.en_US
dc.contributor.authorMassie, Mason(Massie R.)en_US
dc.contributor.otherMassachusetts Institute of Technology. Department of Mechanical Engineering.en_US
dc.date.accessioned2020-10-08T21:29:40Z
dc.date.available2020-10-08T21:29:40Z
dc.date.copyright2020en_US
dc.date.issued2020en_US
dc.identifier.urihttps://hdl.handle.net/1721.1/127904
dc.descriptionThesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020en_US
dc.descriptionCataloged from the official PDF of thesis.en_US
dc.descriptionIncludes bibliographical references (page 60).en_US
dc.description.abstractThis 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.en_US
dc.description.statementofresponsibilityby Mason Massie.en_US
dc.format.extent60 pagesen_US
dc.language.isoengen_US
dc.publisherMassachusetts Institute of Technologyen_US
dc.rightsMIT 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.en_US
dc.rights.urihttp://dspace.mit.edu/handle/1721.1/7582en_US
dc.subjectMechanical Engineering.en_US
dc.titleDesign architecture for dynamic low inertia multi DOF robotic manipulatorsen_US
dc.typeThesisen_US
dc.description.degreeS.B.en_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Mechanical Engineeringen_US
dc.identifier.oclc1197627537en_US
dc.description.collectionS.B. Massachusetts Institute of Technology, Department of Mechanical Engineeringen_US
dspace.imported2020-10-08T21:29:39Zen_US
mit.thesis.degreeBacheloren_US
mit.thesis.departmentMechEen_US


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