Coordinated locomotion between robots separated by a surface
Author(s)
Marchese, Andrew D. (Andrew Dominic)
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Other Contributors
Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science.
Advisor
Daniela Rus.
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Show full item recordAbstract
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).
Date issued
2012Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer SciencePublisher
Massachusetts Institute of Technology
Keywords
Electrical Engineering and Computer Science.