Design considerations for a reconfigurable delta robot

Design;Optimization

Arena, Jeffrey ; Allison ; James T.

关键词: Design;    Optimization;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/49617/Jeffrey_Arena.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

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.