Exoarm manipulator-power arm recyclobot

Date of Publication

1997

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Manufacturing Engineering and Management

Subject Categories

Engineering

College

Gokongwei College of Engineering

Department/Unit

Manufacturing Engineering and Management

Honor/Award

Awarded as best thesis, 1997

Abstract/Summary

Teleoperated manipulators, or master-slave manipulators is a robotic system in which there is a man-machine interaction (human, computer, manipulator). The study presents building a functional master-slave manipulator whose primary feature is that their master and slave manipulator designs are kinematically alike due to which the motions performed by the master arm (exoarm manipulator) are duplicated by the slave manipulator (power arm). The aim of the study is to use a unilateral digital feedback control system to determine the position of the master-slave manipulator. Unilateral in that the master is activated and the slave replicates the motion but does not report back to the master any unexpected event. Though, the master sees the actions of the slave and counteracts motions directly. The result is a fully functional, economically fabricated master-slave manipulator. The slave arm is a small scale model of the human arm that follows the motion of the master arm. The accuracy and repeatability of the master manipulator and slave manipulator is generally dependent on the mechanical assembly and feedback system. It was also determined that there is a significant delay in the response time. Finally, load capacity is not considered.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU08458

Shelf Location

Archives, The Learning Commons, 12F Henry Sy Sr. Hall

Physical Description

65 numb. leaves

Keywords

Manipulators (Mechanism); Robotics; Robots; Industrial; Software engineering

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