Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2009
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| Online Access: | http://hdl.handle.net/1721.1/45959 |
| _version_ | 1826208338474434560 |
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| author | Menon, Manas Chandran |
| author2 | H. Harry Asada. |
| author_facet | H. Harry Asada. Menon, Manas Chandran |
| author_sort | Menon, Manas Chandran |
| collection | MIT |
| description | Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008. |
| first_indexed | 2024-09-23T14:04:11Z |
| format | Thesis |
| id | mit-1721.1/45959 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T14:04:11Z |
| publishDate | 2009 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/459592019-04-12T09:59:09Z Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system Menon, Manas Chandran H. Harry Asada. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Massachusetts Institute of Technology. Dept. of Electrical Engineering and Computer Science. Mechanical Engineering. Electrical Engineering and Computer Science. Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2008. Includes bibliographical references (p. 56-57). The design of a multifunctional foot for application to a mobile robotic system for heavy duty manufacturing is presented. The requirements for a target manufacturing task are presented and translated into requirements for the mobile robotic system, and specifically for the feet of this system. This includes: the ability of the feet to change frictional properties, the ability of the foot to operate without a direct power source, and load bearing requirements for heavy duty tooling. The mechanical design to meet these requirements for these feet is presented. Stability analysis is shown, and it is used to determine several design parameters to meet the goals of the project. The development of a series of iterations of prototypes is discussed. Manufacturing techniques, choice of materials, alignment strategies and assembly practices are explained. Appendices include information about several of the important design milestones. A sensing methodology is introduced. Computer simulations of magnetic fields to estimate the effectiveness of this methodology are performed. Experimental results are shown to match the simulations. A final functional prototype is shown. Testing is performed on this prototype to verify that it meets the functional requirements desired for the system. by Manas Chandran Menon. S.M. 2009-06-30T16:48:45Z 2009-06-30T16:48:45Z 2008 2008 Thesis http://hdl.handle.net/1721.1/45959 321082006 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 57 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Electrical Engineering and Computer Science. Menon, Manas Chandran Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| title | Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| title_full | Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| title_fullStr | Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| title_full_unstemmed | Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| title_short | Design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| title_sort | design of an instrumented multifunctional foot for application to a heavy duty mobile robot manufacturing system |
| topic | Mechanical Engineering. Electrical Engineering and Computer Science. |
| url | http://hdl.handle.net/1721.1/45959 |
| work_keys_str_mv | AT menonmanaschandran designofaninstrumentedmultifunctionalfootforapplicationtoaheavydutymobilerobotmanufacturingsystem |