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Design and testing of a lightweight modular seven-degree-of-freedom robot arm for mobile use

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Material Information

Title:
Design and testing of a lightweight modular seven-degree-of-freedom robot arm for mobile use
Physical Description:
Book
Language:
English
Creator:
Schrock, Peter J
Publisher:
University of South Florida
Place of Publication:
Tampa, Fla
Publication Date:

Subjects

Subjects / Keywords:
Carbon fiber
Harmonic drive
Wheelchair
Assistive device
WMRA
Dissertations, Academic -- Mechanical Engineering -- Masters -- USF   ( lcsh )
Genre:
non-fiction   ( marcgt )

Notes

Abstract:
ABSTRACT: Wheelchair-bound individuals who have limited or no upper-limb usage have difficulty with picking and placing of objects, opening doors, and other activities of daily living (ADLs), such as turning on a light switch or drinking from a cup. A wheelchair-mounted robot arm (WMRA) would aid individuals with completing ADLs and increase their independence, therefore an improved WMRA has been designed. Building upon previous WMRA research and incorporating research from industrial robot arms, carbon fiber tubing is the main component for the structure of the arm, a novel development for WMRAs. Factors that go into WMRA design include weight, speed, safety, robustness, cost, and the anticipated tasks. Many of these factors, such as weight, speed, and cost, can be improved upon compared to previous WMRAs by using carbon fiber materials. The use of carbon fiber enables the arm to be strong, but also lighter weight than other WMRAs. Testing was conducted on the pultruded carbon fiber tubing to ensure that the structure of the arm could withstand the necessary bending and tensile forces for the arm to hold up to 3.85kg, the standard weight of a gallon of milk, at the end effector. The arm's carbon fiber frame also allows the motor and sensor wiring to run internally, which improves the arm's safety and aesthetics, while protecting it from the arm's external environment. Lightweight high-torque motors, harmonic drives, newly designed carbon fiber frame, and a stand-alone 8-axis motion-control board, allow the arm to weigh less, have a longer overall length, be more robust, and be safer electronically than the previous University of South Florida WMRA, which was shown through prototype testing.
Thesis:
Thesis (M.S.M.E.)--University of South Florida, 2008.
Bibliography:
Includes bibliographical references.
System Details:
Mode of access: World Wide Web.
System Details:
System requirements: World Wide Web browser and PDF reader.
Statement of Responsibility:
by Peter J. Schrock.
General Note:
Title from PDF of title page.
General Note:
Document formatted into pages; contains 110 pages.

Record Information

Source Institution:
University of South Florida Library
Holding Location:
University of South Florida
Rights Management:
All applicable rights reserved by the source institution and holding location.
Resource Identifier:
aleph - 002004992
oclc - 355288333
usfldc doi - E14-SFE0002698
usfldc handle - e14.2698
System ID:
SFS0027015:00001


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Schrock, Peter J.
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Design and testing of a lightweight modular seven-degree-of-freedom robot arm for mobile use
h [electronic resource] /
by Peter J. Schrock.
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[Tampa, Fla] :
b University of South Florida,
2008.
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Title from PDF of title page.
Document formatted into pages; contains 110 pages.
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Thesis (M.S.M.E.)--University of South Florida, 2008.
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Includes bibliographical references.
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Text (Electronic thesis) in PDF format.
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ABSTRACT: Wheelchair-bound individuals who have limited or no upper-limb usage have difficulty with picking and placing of objects, opening doors, and other activities of daily living (ADLs), such as turning on a light switch or drinking from a cup. A wheelchair-mounted robot arm (WMRA) would aid individuals with completing ADLs and increase their independence, therefore an improved WMRA has been designed. Building upon previous WMRA research and incorporating research from industrial robot arms, carbon fiber tubing is the main component for the structure of the arm, a novel development for WMRAs. Factors that go into WMRA design include weight, speed, safety, robustness, cost, and the anticipated tasks. Many of these factors, such as weight, speed, and cost, can be improved upon compared to previous WMRAs by using carbon fiber materials. The use of carbon fiber enables the arm to be strong, but also lighter weight than other WMRAs. Testing was conducted on the pultruded carbon fiber tubing to ensure that the structure of the arm could withstand the necessary bending and tensile forces for the arm to hold up to 3.85kg, the standard weight of a gallon of milk, at the end effector. The arm's carbon fiber frame also allows the motor and sensor wiring to run internally, which improves the arm's safety and aesthetics, while protecting it from the arm's external environment. Lightweight high-torque motors, harmonic drives, newly designed carbon fiber frame, and a stand-alone 8-axis motion-control board, allow the arm to weigh less, have a longer overall length, be more robust, and be safer electronically than the previous University of South Florida WMRA, which was shown through prototype testing.
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Advisor: Rajiv Dubey, Ph.D
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Carbon fiber
Harmonic drive
Wheelchair
Assistive device
WMRA
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Dissertations, Academic
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x Mechanical Engineering
Masters.
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t USF Electronic Theses and Dissertations.
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u http://digital.lib.usf.edu/?e14.2698