Scaling a Prismatic Revolute Joint (Pr) Manipulator Using Similitude and Buckingham Pi Techniques

Scaling a Prismatic Revolute Joint (Pr) Manipulator Using Similitude and Buckingham Pi Techniques

This thesis presents scaling methods for sizing a prototype micro prismatic revolute (PR) manipulator actuated by permanent magnet (PM) direct current (d.c.) gearmotors. Dimensional analysis was the principle tool used in this investigation, and addressed the problems of scaling a trajectory planne...

Full description

Bibliographic Details
Main Author: Gilbert, Gregory S. Jr.
Other Authors: Mechanical Engineering
Format: Others
Published: Virginia Tech 2014
Subjects:
Dimensional Analysis
Buckingham Pi Theorem
Similitude
Scaling
Brushed DC Permanent Magnet Motors
Coulomb
Viscous
Static
Nonlinear Friction
Computed Torque Control
Online Access:http://hdl.handle.net/10919/36599
http://scholar.lib.vt.edu/theses/available/etd-3198-143639/

Internet

http://hdl.handle.net/10919/36599
http://scholar.lib.vt.edu/theses/available/etd-3198-143639/

Similar Items