The Design Freedoms of a Novel Cable-Driven Manipulator

Graduate Thesis Or Dissertation

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Citeable URL: https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/g445ck88d

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Attribute Name	Values
Creator	Layng, Brian M.
Abstract	Legged locomotion in robotics benefits from engineered hardware dynamics such as configuration-dependent, nonlinear transmissions and compliance. This thesis introduces a novel cable driven leg that allows the design of configuration-dependent transmission ratios while also permitting the addition of compliance in line with the cables to achieve compliant legged locomotion. The end-effector compliance is derived and the design space of the compliance is defined. A process for designing nonround pulleys is presented, along with demonstrating the design of a balanced compliance in a robotic leg.
License	All rights reserved
Resource Type	Masters Thesis
Date Issued	2019-06-10
Degree Level	Master's
Degree Name	Master of Science (M.S.)
Degree Field	Robotics
Degree Grantor	Oregon State University
Commencement Year	2019
Advisor	Hurst, Jonathan W.
Committee Member	Cabot, Nick Knight, Heather M. Hatton, Ross L.
Citation	Layng, B (2018). The Design Freedoms of a Novel Cable-Driven Manipulator. Master of Science Thesis. Oregon State University.
Rights Statement	In Copyright
Publisher	Oregon State University
Peer Reviewed	No
Language	English [eng]
Embargo date range	2019-06-13 to 2021-07-14
Accessibility Feature	unknown

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