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Ruiqi Hu_Thesis_Fall 2017.pdf (1.81 MB)

ETD Abstract Container

Abstract Header

A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism.

Hu, Ruiqi
http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533

Abstract Details

2017, Master of Science, Ohio State University, Mechanical Engineering.
This thesis presents the development details of a human safety robotic arm design with variable stiffness, starting from an initial conceptual design to prototype validations. Instead of changing the compliance of the joint, this design concept introduces compliance to the robotic link itself. The mechanism of the design is a parallel guided beam with a slider linear actuated by a power screw and a DC motor. By controlling the slider position, the effective length of the robotic arm link can be adjusted to achieve necessary stiffness change. The stiffness variation capability of the effective length concept was first validated on a physical conceptual model by experiments. For comparison, a simulation model was also created for the structure of the robotic arm in Abaqus using finite element methods. All the analysis, simulation and tests performed in this research were based on small beam bending deflections. A prototype was developed based on the conceptual model, having transmission and actuation module integrated. Simple and accurate PID position control using Arduino for rapid prototyping is also demonstrated in this thesis. The performance of the prototype was evaluated by two categories of experiments: stiffness tests and PID position calibration. The overall stiffness change ratio achieved was around 20 times by static stiffness test results. The position steady state error and the overshoot of the system was within 0.5mm.
Haijun Su (Advisor)
Junmin Wang (Committee Member)
62 p.
Mechanical Engineering
Robotic Arm Compliant Mechanism Parallel Guided Beam Linear Actuated Design Arduino PID Control

Recommended Citations

Citations

  • Hu, R. (2017). A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism. [Master's thesis, Ohio State University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533

    APA Style (7th edition)

  • Hu, Ruiqi. A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism. 2017. Ohio State University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533.

    MLA Style (8th edition)

  • Hu, Ruiqi. "A Variable Stiffness Robotic Arm Design Using Linear Actuated Compliant Parallel Guided Mechanism." Master's thesis, Ohio State University, 2017. http://rave.ohiolink.edu/etdc/view?acc_num=osu1511796200603533

    Chicago Manual of Style (17th edition)

osu1511796200603533
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© 2017, all rights reserved.
This open access ETD is published by The Ohio State University and OhioLINK.
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