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 Title: Design considerations for a reconfigurable delta robot Author(s): Arena, Jeffrey Advisor(s): Allison, James T. Department / Program: Industrial&Enterprise Sys Eng Discipline: Systems & Entrepreneurial Engr Degree Granting Institution: University of Illinois at Urbana-Champaign Degree: M.S. Genre: Thesis Subject(s): Design Optimization Abstract: One project, the design of a reconfigurable Delta robot, motivated three different works which comprise this thesis. In Chapters 1-2, I discuss the application of multiobjective design principles to decide appropriate ranges of reconfigurability in a Delta robot. I show that the selection reconfigurable ranges in a system designed for multiability through continuous reconfiguration can be accomplished by generating points along an expanded Pareto set"-- each of these points representing a fully reconfigurable design. In Chapters 3-4 I discuss dynamically modeling compliance in a structure, and use the derivation to formulate the co-design problem for a simple pick-and-place manipulator made up of one compliant link. After displaying existing results, I discuss the current state of this research and potential next steps. Finally, in Chapter 5, I outline the practical considerations that comprised my construction of a reconfigurable Delta robot. Issue Date: 2014-05-30 URI: http://hdl.handle.net/2142/49617 Rights Information: Copyright 2014 Jeffrey D. Arena Date Available in IDEALS: 2014-05-30 Date Deposited: 2014-05
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