Optimal shape and motion planning for dynamic planar manipulation
Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2017
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| Online Access: | http://hdl.handle.net/1721.1/111929 |
| _version_ | 1826196825762168832 |
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| author | Taylor, Orion Thomas |
| author2 | Alberto Rodriguez. |
| author_facet | Alberto Rodriguez. Taylor, Orion Thomas |
| author_sort | Taylor, Orion Thomas |
| collection | MIT |
| description | Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017. |
| first_indexed | 2024-09-23T10:38:32Z |
| format | Thesis |
| id | mit-1721.1/111929 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T10:38:32Z |
| publishDate | 2017 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1119292019-04-12T22:53:47Z Optimal shape and motion planning for dynamic planar manipulation Taylor, Orion Thomas Alberto Rodriguez. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.M., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2017. Cataloged from PDF version of thesis. Includes bibliographical references (pages 59-61). This thesis presents a framework for optimizing both the shape and the motion of a planar rigid end-effector to satisfy a desired manipulation task. We frame this design problem as a nonlinear optimization program, where shape and motion are decision variables represented as splines. The task is represented as a series of constraints, along with a fitness metric, which force the solution to be compatible with the dynamics of frictional hard contact while satisfying the task. We illustrate the approach with the example problem of moving a disk along a desired path or trajectory, and we verify it by applying it to three classical design problems: the rolling brachistochrone, the design of teeth of involute gears, and the pitch curve of rolling cams. We conclude with a case study involving the optimization and real implementation of the shape and motion of a dynamic throwing arm. by Orion Thomas Taylor. S.M. 2017-10-18T15:10:27Z 2017-10-18T15:10:27Z 2017 2017 Thesis http://hdl.handle.net/1721.1/111929 1005737489 eng MIT theses are protected by copyright. They may be viewed, downloaded, or printed from this source but further reproduction or distribution in any format is prohibited without written permission. http://dspace.mit.edu/handle/1721.1/7582 61 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Taylor, Orion Thomas Optimal shape and motion planning for dynamic planar manipulation |
| title | Optimal shape and motion planning for dynamic planar manipulation |
| title_full | Optimal shape and motion planning for dynamic planar manipulation |
| title_fullStr | Optimal shape and motion planning for dynamic planar manipulation |
| title_full_unstemmed | Optimal shape and motion planning for dynamic planar manipulation |
| title_short | Optimal shape and motion planning for dynamic planar manipulation |
| title_sort | optimal shape and motion planning for dynamic planar manipulation |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/111929 |
| work_keys_str_mv | AT taylororionthomas optimalshapeandmotionplanningfordynamicplanarmanipulation |