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ETD Abstract Container

Abstract Header

Towards a Canfield Joint for Deep Space Optical Communication

Collins, Kristina V
http://orcid.org/0000-0002-3816-1948
http://rave.ohiolink.edu/etdc/view?acc_num=case1536104606070327

Abstract Details

2019, Master of Engineering, Case Western Reserve University, EECS - Electrical Engineering.
This thesis comprises work supporting the integration of a Canfield joint (carpal wrist) in the Integrated Radio and Optical Communication project at NASA Glenn Research Center. The Canfield joint is a 3 DoF (degree of freedom) parallel linkage used for pointing a range of end effectors. Several tests were devised and performed to validate an existing prototype for optical pointing requirements including field of regard, pointing resolution, and slew rate for a trajectory between Earth and Mars; these requirements were partially satisfied. A kinematic analysis of the robot is performed, including forward and inverse kinematics and preliminary singularity analysis, and the effect of altering the ratio of base and leg lengths is investigated. Designs for physical models of the Canfield joint, produced using rapid prototyping, are presented, as are computer models produced for use in Geogebra and Robot Operating System.
Christian Zorman, PhD (Advisor)
Francis Merat, PhD (Committee Member)
Cenk Cavusoglu, PhD (Committee Member)
Wyatt Newman, PhD (Committee Member)
Daniel Raible, PhD (Committee Member)
110 p.
Electrical Engineering; Engineering; Robotics; Robots
parallel robot; Canfield joint; optical communication; laser communication; space communication; iROC; Integrated Radio and Optical Communication; teletenna; NASA Glenn Research Center; product of exponentials; ROS; Geogebra

Recommended Citations

Citations

  • Collins, K. V. (2019). Towards a Canfield Joint for Deep Space Optical Communication [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1536104606070327

    APA Style (7th edition)

  • Collins, Kristina. Towards a Canfield Joint for Deep Space Optical Communication. 2019. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1536104606070327.

    MLA Style (8th edition)

  • Collins, Kristina. "Towards a Canfield Joint for Deep Space Optical Communication." Master's thesis, Case Western Reserve University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1536104606070327

    Chicago Manual of Style (17th edition)

case1536104606070327
198
© 2019, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.