2026-09-25T13:54:46Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/49617 2023-07-11 col_2142_5131 col_2142_16359 com_2142_5130 com_2142_16358 com_2142_234

Allison, James T. Arena, Jeffrey 2014-05-30T16:52:35Z 2014-05-30T16:52:35Z 2014-05 2014-05-30T16:52:35Z 2014-05 "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." Item withdrawn by Mark Zulauf (zulauf@illinois.edu) on 2014-04-30T21:00:01Z Item was in collections: University of Illinois Theses & Dissertations (ID: 1) No. of bitstreams: 1 Arena_Jeffrey.pdf: 7077325 bytes, checksum: 56950f9f37a6b52b01b17b33410adb90 (MD5) Made available in DSpace on 2014-05-30T16:52:35Z (GMT). No. of bitstreams: 2 Jeffrey_Arena.pdf: 7077292 bytes, checksum: 2f74008e5b9c1c8c8d3618e5d44baadb (MD5) license.txt: 4063 bytes, checksum: e91658a4bdf1a27e62e75574129676f6 (MD5) http://hdl.handle.net/2142/49617 en Copyright 2014 Jeffrey D. Arena Design Optimization Design considerations for a reconfigurable delta robot text Industrial&Enterprise Sys Eng 1422 Systems & Entrepreneurial Engr 3846 University of Illinois at Urbana-Champaign Thesis M.S. MS:Sys & Entreprnural Eng-UIUC 10KS3846MS