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  4. Optimal design methods for increasing power performance of multiactuator robotic limbs
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Optimal design methods for increasing power performance of multiactuator robotic limbs

Full metadata

Description

In order for assistive mobile robots to operate in the same environment as humans, they must be able to navigate the same obstacles as humans do. Many elements are required to do this: a powerful controller which can understand the obstacle, and power-dense actuators which will be able to achieve the necessary limb accelerations and output energies. Rapid growth in information technology has made complex controllers, and the devices which run them considerably light and cheap. The energy density of batteries, motors, and engines has not grown nearly as fast. This is problematic because biological systems are more agile, and more efficient than robotic systems. This dissertation introduces design methods which may be used optimize a multiactuator robotic limb's natural dynamics in an effort to reduce energy waste. These energy savings decrease the robot's cost of transport, and the weight of the required fuel storage system. To achieve this, an optimal design method, which allows the specialization of robot geometry, is introduced. In addition to optimal geometry design, a gearing optimization is presented which selects a gear ratio which minimizes the electrical power at the motor while considering the constraints of the motor. Furthermore, an efficient algorithm for the optimization of parallel stiffness elements in the robot is introduced. In addition to the optimal design tools introduced, the KiTy SP robotic limb structure is also presented. Which is a novel hybrid parallel-serial actuation method. This novel leg structure has many desirable attributes such as: three dimensional end-effector positioning, low mobile mass, compact form-factor, and a large workspace. We also show that the KiTy SP structure outperforms the classical, biologically-inspired serial limb structure.

Date Created
2017
Contributors
  • Cahill, Nathan M (Author)
  • Sugar, Thomas (Thesis advisor)
  • Ren, Yi (Thesis advisor)
  • Holgate, Matthew (Committee member)
  • Berman, Spring (Committee member)
  • Artemiadis, Panagiotis (Committee member)
  • Arizona State University (Publisher)
Topical Subject
  • robotics
  • Biologically Inspired
  • Legged Robot
  • mechanism
  • Optimization
  • Parallel Mechanism
  • Actuators
  • Engineering design
  • Reliability (Engineering)
  • Robotics--Human factors.
Resource Type
Text
Genre
Doctoral Dissertation
Academic theses
Extent
xiv, 196 pages : illustrations (some color)
Language
eng
Copyright Statement
In Copyright
Reuse Permissions
All Rights Reserved
Primary Member of
ASU Electronic Theses and Dissertations
Peer-reviewed
No
Open Access
No
Handle
https://hdl.handle.net/2286/R.I.45522
Statement of Responsibility
by Nathan M. Cahill
Description Source
Viewed on April 7, 2021
Level of coding
full
Note
Partial requirement for: Ph.D., Arizona State University, 2017
Note type
thesis
Includes bibliographical references (pages 173-196)
Note type
bibliography
Field of study: Mechanical engineering
System Created
  • 2017-10-02 07:19:23
System Modified
  • 2021-08-26 09:47:01
  •     
  • 1 year 7 months ago
Additional Formats
  • OAI Dublin Core
  • MODS XML

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