Design architecture for dynamic low inertia multi DOF robotic manipulators

• Main Author: Massie, Mason(Massie R.)
• Other Authors: Sangbae Kim.
• Format: Others
• Language: English
• Published: Massachusetts Institute of Technology 2020
• Subjects: Mechanical Engineering.
• Online Access: https://hdl.handle.net/1721.1/127904

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