2026-09-19T14:42:38Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1279042021-07-05T14:03:20Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Sangbae Kim.
Massie, Mason(Massie R.)
Massachusetts Institute of Technology. Department of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2020-10-08T21:29:40Z
2020-10-08T21:29:40Z
2020
2020
https://hdl.handle.net/1721.1/127904
1197627537
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).
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.
by Mason Massie.
S.B.
S.B. Massachusetts Institute of Technology, Department of Mechanical Engineering
60 pages
eng
Massachusetts Institute of Technology
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.
http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Design architecture for dynamic low inertia multi DOF robotic manipulators
Thesis
application/pdf
2020-10-08T21:29:39Z
Publication
Bachelor
MechE
unknown
unknown
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