SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY

SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY

Bibliographic Details
Main Author: Snyder, Benjamin M.
Language:English
Published: Ohio University / OhioLINK 2006
Subjects:
robot
robotics
cable-suspended robots
cable-driven robots
cable-robots
cable robots
metrology
robot control
3D duplication
3D sculpting
maquette-enlarging
automated machining
automated sculpting
Online Access:http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196
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spelling ndltd-OhioLink-oai-etd.ohiolink.edu-ohiou11424421962021-08-03T05:43:25Z SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY Snyder, Benjamin M. robot robotics cable-suspended robots cable-driven robots cable-robots cable robots metrology robot control 3D duplication 3D sculpting maquette-enlarging automated machining automated sculpting <p>Traditional automated machining and material deposition systems are not easily scalable and can be expensive. This thesis presents a less expensive, scalable alternative – a seven degree-of-freedom (DOF) cable-suspended robot (CSR) for use in 3D sculpting, with further applications in automated machining, rapid prototyping, and construction. Two important novelties are a passive pose metrology system independent of the active drive system, and a simple yet non-traditional method of cable tensioning utilizing a spring mounted inline on the seventh active cable. This thesis presented the final design, construction, and controller implementation using a classical joint-level PID real-time control architecture, and the novel implementation of a 3D digitizer, called MicroScribe, as a master input device. The control system was applied to a full-scale robot at NIST where a scaled 3D duplication was performed using a MicroScribe to trace a maquette while the CSR cut an enlarged duplicate out of polystyrene in real-time.</p> 2006-04-18 English text Ohio University / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196 http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws.
collection NDLTD
language English
sources NDLTD
topic robot
robotics
cable-suspended robots
cable-driven robots
cable-robots
cable robots
metrology
robot control
3D duplication
3D sculpting
maquette-enlarging
automated machining
automated sculpting
spellingShingle robot
robotics
cable-suspended robots
cable-driven robots
cable-robots
cable robots
metrology
robot control
3D duplication
3D sculpting
maquette-enlarging
automated machining
automated sculpting
Snyder, Benjamin M.
SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY
author Snyder, Benjamin M.
author_facet Snyder, Benjamin M.
author_sort Snyder, Benjamin M.
title SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY
title_short SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY
title_full SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY
title_fullStr SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY
title_full_unstemmed SEVEN-DOF CABLE-SUSPENDED ROBOT WITH INDEPENDENT SIX-DOF METROLOGY
title_sort seven-dof cable-suspended robot with independent six-dof metrology
publisher Ohio University / OhioLINK
publishDate 2006
url http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1142442196
work_keys_str_mv AT snyderbenjaminm sevendofcablesuspendedrobotwithindependentsixdofmetrology
_version_ 1719424172702040064

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