The design and fabrication of a passive and continuously repositionable joint
Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2014
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| Online Access: | http://hdl.handle.net/1721.1/83704 |
| _version_ | 1826188364736364544 |
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| author | Daniel, Phillip Howard |
| author2 | Alexander H. Slocum. |
| author_facet | Alexander H. Slocum. Daniel, Phillip Howard |
| author_sort | Daniel, Phillip Howard |
| collection | MIT |
| description | Thesis (S.B.)--Massachusetts Institute of Technology, Department of Mechanical Engineering, 2013. |
| first_indexed | 2024-09-23T07:58:13Z |
| format | Thesis |
| id | mit-1721.1/83704 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T07:58:13Z |
| publishDate | 2014 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/837042019-04-09T15:51:18Z The design and fabrication of a passive and continuously repositionable joint Daniel, Phillip Howard Alexander H. Slocum. 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, 2013. Cataloged from PDF version of thesis. Includes bibliographical references (page 24). A cam based locking mechanism was designed and fabricated to secure the joints of a continuously repositionable table capable of supporting a 11 IN load. Additionally, a frame was designed and built to test the feasibility of this joint concept as an assembly. Conventional toothed mechanisms were found to not provide a desirable smoothness of motion or resolution for implementation as an adjustable table. They also require more geometrically complex components than the proposed solution. The proposed mechanism relies on the binding of an eccentric cam and pulley, and is of interest because these key components are geometrically simple in comparison to toothed mechanisms. The reduced complexity of this solution is expected to lower the manufacturing cost of this type of joint and increase the resolution of its angular position, when compared to similar mechanisms. A model of the jamming interaction was evaluated using Matlab. This model was used to select the optimal material, eccentricity and diameter of the components. The elements were then fabricated with an Omax 2626 Precision JetMachining Center, and mechanically tested using calibrated weights. The fabricated joint is capable of holding a 56.5N*m load with a stiffness of 7.8N*m/degree. by Phillip H. Daniel. S.B. 2014-01-09T19:46:44Z 2014-01-09T19:46:44Z 2013 Thesis http://hdl.handle.net/1721.1/83704 864434782 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 24 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Daniel, Phillip Howard The design and fabrication of a passive and continuously repositionable joint |
| title | The design and fabrication of a passive and continuously repositionable joint |
| title_full | The design and fabrication of a passive and continuously repositionable joint |
| title_fullStr | The design and fabrication of a passive and continuously repositionable joint |
| title_full_unstemmed | The design and fabrication of a passive and continuously repositionable joint |
| title_short | The design and fabrication of a passive and continuously repositionable joint |
| title_sort | design and fabrication of a passive and continuously repositionable joint |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/83704 |
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