2026-09-20T00:42:09Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/505762022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
H. Harry Asada.
Cunningham, Daniel Philip
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-01-07T20:55:33Z
2010-01-07T20:55:33Z
2009
2009
http://hdl.handle.net/1721.1/50576
464238757
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Includes bibliographical references (leaf 71).
A simple, compact, yet powerful robotic winch, called "Winch-Bot," is presented in this thesis. The Winch-Bot is an underactuated robot having only one controllable axis. Although hanging a load with merely one cable, it is capable of moving it in a large workspace by swinging the load dynamically based on parametric self-excitation. The generated trajectories can be used for a variety of tasks, from moving material to cyclic inspection of surfaces. The basic principle and design concept of the Winch-Bot are first described, followed by dynamic modeling and analysis. Two trajectory generation problems are solved. One is point-to-point transfer of a load, and the other is the tracking of a continuous path. It will be shown that the system can track a given geometric trajectory, although the tracking velocity cannot be determined arbitrarily due to the underactuated nature of dynamics. A prototype Winch-Bot is designed and built, and point-to-point, continuous path, and parametric excitation control are implemented.
by Daniel Philip Cunningham.
S.M.
71 leaves
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
copyright. They may be viewed from this source for any purpose, but
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
The Winch-Bot : a cable-suspended, under-actuated robot utilizing parametric self-excitation
Cable-suspended, under-actuated robot utilizing parametric self-excitation
Thesis
application/pdf
Publication
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