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Hardware Application for Rapid Prototyping, Modeling and Validation of Cable- Suspended Robot Systems

Petitt, Cody R.

Abstract Details

2016, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering and Technology).
The need for additional research tools that allow for more extensive analysis exists in the field of Cable Suspended Robots (CSR) research. This system addresses that need by providing a hardware model as a type synthesis system that can be used to determine the possible designs, given a vast range of design specifications. This two part system was configured to be adaptable, transferable, and modular, allowing a workspace and trajectory validation and singularity analysis to be completed on an easy to use hand operated Subsystem #1. Offering visual and haptic feedback and potential control validation on Subsystem #2, which allows for a desired trajectory to be automated with easy to use microcontrollers and software program. The system was validated using two real-world CSR models, proving it can adequately represent a CSR. A prototype configuration was deployed onto the system, validation and trajectory results were positive; leading to the conclusion that this system is useful for type synthesis and prototyping of CSR configurations.
Robert Williams II, Ph.D. (Advisor)

Recommended Citations

Citations

  • Petitt, C. R. (2016). Hardware Application for Rapid Prototyping, Modeling and Validation of Cable- Suspended Robot Systems [Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1460390146

    APA Style (7th edition)

  • Petitt, Cody. Hardware Application for Rapid Prototyping, Modeling and Validation of Cable- Suspended Robot Systems. 2016. Ohio University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1460390146.

    MLA Style (8th edition)

  • Petitt, Cody. "Hardware Application for Rapid Prototyping, Modeling and Validation of Cable- Suspended Robot Systems." Master's thesis, Ohio University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1460390146

    Chicago Manual of Style (17th edition)