Design considerations for a reconfigurable delta robot
Arena, Jeffrey
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https://hdl.handle.net/2142/49617
Description
Title
Design considerations for a reconfigurable delta robot
Author(s)
Arena, Jeffrey
Issue Date
2014-05-30T16:52:35Z
Director of Research (if dissertation) or Advisor (if thesis)
Allison, James T.
Department of Study
Industrial&Enterprise Sys Eng
Discipline
Systems & Entrepreneurial Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(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."
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