2026-09-19T08:32:59Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/544692022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
Martin L. Culpepper.
Klenk, Daniel E
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T15:37:05Z
2010-04-28T15:37:05Z
2009
2009
http://hdl.handle.net/1721.1/54469
555969361
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
A test stand was designed and constructed to compress a compliant robot prototype, while measuring the force applied and the displacement of the prototype's end. The prototype is a five degree of freedom, compliant device, which required the design process to preserve these DOF while measuring the force and displacement. To reduce the restriction on the robot's DOF, the final design utilizes a stepper motor and a counterweighted pulley system to apply a compressive force through a single monofilament line. The test stand can accommodate prototypes up to 25 cm in length, and can apply a compressive force up to 6.5N with a resolution of ±0.04N. The displacement can be measured accurately to ±0.064cm.
by Daniel E. Klenk.
S.B.
28 p.
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.
Design of a re-configurable test stand for a multi degree of freedom compliant robot prototype
Thesis
application/pdf
Publication
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