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Filtering by: Advisor Smith, Jane E. Remove constraint Advisor: Smith, Jane E. Decade 1990-1999 Remove constraint Decade: 1990-1999

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  • Dynamics and control of a rigid/flexible manipulator

    Creator:
    Yeh, Chun-tien
    Abstract:
    Control of high-speed, light-weight robotic manipulators is a challenge because of their special dynamic characteristics. In this work, a two-stage control algorithm for the position control of flexible manipulators is proposed. First, the more complex, flexible robot system is replaced by a simplified hypothetical rigid body system (HRRA) with off-line...
    Resource Type:
    Dissertation
    Full Text:
    . Redacted for Privacy Abstract approved: Charles E. Smith Control of high-speed, light-weight robotic

  • Rebound predictions for elastic collisions

    Creator:
    Liu, Pao-pao
    Abstract:
    In this paper, a numerical method is used to predict the response of an elastic body during a collision in which both normal and tangential impulses are important. Results are compared with those from simplified prediction procedures, which stem from the assumptions that the energy-returning capacity of the normal deformation...
    Resource Type:
    Dissertation
    Full Text:
    approved: Charles E. Smith In this paper, a numerical method is used to predict the response of an

  • Parameters affecting mechanical collisions

    Creator:
    Aum, Ho Sung
    Abstract:
    Even though the elastic deformations that occur during the impact of colliding bodies may be small in comparison to their actual dimensions, they play an important role in mechanical collisions. During the time the bodies are in contact, elastic, friction, and inertia properties combine to produce a complex variation of...
    Resource Type:
    Dissertation
    Full Text:
    presented on May 13, 1992. Title: Parameters Affecting Mechanical Collisions Abstract approved: Charles E

  • Predicting rebound of planar elastic collisions

    Creator:
    Cruz-Conde Gret, Raphaël
    Abstract:
    Impact is a large and complex field. It embraces both structures as simple as a nail, and more complex systems, such as a car collision. A central feature of impact theory is finding the dependence between the velocities before and after impact. The transformation law of the velocities in an...
    Resource Type:
    Masters Thesis
    Full Text:
    approved: Charles E. Smith Impact is a large and complex field. It embraces both structures as simple

  • Rebound predictions of mechanical collisions

    Creator:
    Lai, Liang-Ju
    Abstract:
    Predictions of mechanical collisions between two bodies frequently cannot be completed by the impulse-momentum equation together with a complete description of the motion of the system at the initial contact. Additional account must be taken of the deformations and frictional interaction induced by the impulsive reaction force, where the bodies...
    Resource Type:
    Dissertation
    Full Text:
    : Charles E. Smith Predictions of mechanical collisions between two bodies frequently cannot be

  • Kinematics of arthropod legs : modeling and measurement

    Creator:
    Albright, Stephen L.
    Abstract:
    This thesis presents a method for determining the kinematic geometry of arthropod legs. A kinematic description makes possible the analysis of arthropod leg motion, as a prelude to investigating how various arthropod species are able to negotiate diverse terrains. Such knowledge will aid in design of legged vehicles. The focus...
    Resource Type:
    Dissertation
    Full Text:
    Redacted for Privacy Charles E. Smith I This thesis presents a method for determining the kinematic