Analytic integration of tolerances in designing precision interfaces for modular robotics

dc.contributor.advisorTesar, Delberten
dc.creatorShin, Sung Hoen
dc.date.accessioned2008-08-28T22:37:16Zen
dc.date.available2008-08-28T22:37:16Zen
dc.date.issued2004en
dc.descriptiontexten
dc.description.abstractModularity in robot structures allows for achieving various system configurations using a limited number of interconnecting modules. However, the requirement for system calibrations following reconfigurations must be diminished through the achievement of high accuracy and stiffness in module connections. The capability to design high performance connection interfaces that can guarantee the needed level of system accuracy is the key factor for the success of modular robotics. In this research, a simple analytical method is pursued, which relates the major connection interface design parameters such as stiffness, geometry, and manufacturing tolerances to the final relative position and orientation of the module connections. The primary purpose of this method is to efficiently obtain an initial set of design parameter values for connection interfaces considering both the allocated tolerances and the connection accuracy to be achieved based on the required accuracy level of the overall system. The obtained method is applied to design a precision module connection interface for a specific system, following an assessment on the desirable level of connection accuracy and stiffness. Stochastic accuracy analyses are performed on a linear connection model through matrix operations for the allocated manufacturing tolerances.
dc.description.departmentMechanical Engineeringen
dc.format.mediumelectronicen
dc.identifierb60841205en
dc.identifier.oclc69157957en
dc.identifier.proqst3145352en
dc.identifier.urihttp://hdl.handle.net/2152/2195en
dc.language.isoengen
dc.rightsCopyright is held by the author. Presentation of this material on the Libraries' web site by University Libraries, The University of Texas at Austin was made possible under a limited license grant from the author who has retained all copyrights in the works.en
dc.subject.lcshRobots--Design and constructionen
dc.subject.lcshComputer interfaces--Design and constructionen
dc.subject.lcshTolerance (Engineering)en
dc.titleAnalytic integration of tolerances in designing precision interfaces for modular roboticsen
dc.type.genreThesisen
thesis.degree.departmentMechanical Engineeringen
thesis.degree.disciplineMechanical Engineering.en
thesis.degree.grantorThe University of Texas at Austinen
thesis.degree.levelDoctoralen
thesis.degree.nameDoctor of Philosophyen

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