Design architecture for dynamic low inertia multi DOF robotic manipulators
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2020
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| Online Access: | https://hdl.handle.net/1721.1/127904 |
| _version_ | 1826210575175122944 |
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| author | Massie, Mason(Massie R.) |
| author2 | Sangbae Kim. |
| author_facet | Sangbae Kim. Massie, Mason(Massie R.) |
| author_sort | Massie, Mason(Massie R.) |
| collection | MIT |
| description | Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, May, 2020 |
| first_indexed | 2024-09-23T14:52:09Z |
| format | Thesis |
| id | mit-1721.1/127904 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:52:09Z |
| publishDate | 2020 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1279042020-10-09T03:08:19Z Design architecture for dynamic low inertia multi DOF robotic manipulators Massie, Mason(Massie R.) Sangbae Kim. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering Mechanical Engineering. 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 2020-10-08T21:29:40Z 2020-10-08T21:29:40Z 2020 2020 Thesis https://hdl.handle.net/1721.1/127904 1197627537 eng 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 60 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Massie, Mason(Massie R.) Design architecture for dynamic low inertia multi DOF robotic manipulators |
| title | Design architecture for dynamic low inertia multi DOF robotic manipulators |
| title_full | Design architecture for dynamic low inertia multi DOF robotic manipulators |
| title_fullStr | Design architecture for dynamic low inertia multi DOF robotic manipulators |
| title_full_unstemmed | Design architecture for dynamic low inertia multi DOF robotic manipulators |
| title_short | Design architecture for dynamic low inertia multi DOF robotic manipulators |
| title_sort | design architecture for dynamic low inertia multi dof robotic manipulators |
| topic | Mechanical Engineering. |
| url | https://hdl.handle.net/1721.1/127904 |
| work_keys_str_mv | AT massiemasonmassier designarchitecturefordynamiclowinertiamultidofroboticmanipulators |