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Title:Robotic software architecture and experimental elastic rod manipulation for helix model validation
Author(s):Macenski, Steven J.
Advisor(s):Bretl, Tim
Contributor(s):Bretl, Tim
Department / Program:College of Engineering
Discipline:Aerospace Engineering
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:B.S. (bachelor's)
Genre:Thesis
Subject(s):Engineering
Aerospace Engineering
elastic rods
elastic rod manipulation
Borum
Abstract:The manipulation of elastic rods into helices is a class of problem with im- pacts in a number of industries. Wire harnesses, cabling, and more can be represented as elastic rods in a simplified case. Robotic manipulations of these objects can lead to more efficient manufacturing of aircraft, routing cables, routing in structures, and construction of buildings. These rods have instability points where they may snap violently or shift to a new shape and cause asset damage or manufacturing defects. A. Borum has developed theory predicting when elastic rods in helices will reach an instability point. The work presented will aid in experimentally validate Borum's theory. Future developments could use this validation in manipulating large non-ideal elastic beams or cables in a manufacturing setting and a reduction in required manpower for faster completion of large scale manufacturing projects.
Issue Date:2017
Genre:Dissertation / Thesis
Type:Text
Language:English
URI:http://hdl.handle.net/2142/103439
Rights Information:Copyright 2017 Steven J. Macenski
Date Available in IDEALS:2019-04-12


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