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ORCID
N/A
Access Type
Open Access Thesis
Document Type
thesis
Degree Program
Mechanical Engineering
Degree Type
Master of Science in Mechanical Engineering (M.S.M.E.)
Year Degree Awarded
2014
Month Degree Awarded
February
Abstract
This thesis presents the design of uBot-7, the latest version of a dexterous mobile manipulator. This platform has been iteratively developed to realize a high performance-to-cost dexterous whole body manipulator with respect to mobile manipulation. The semi-anthropomorphic design of the uBot is a demonstrated and functional research platform for developing advanced autonomous perception, manipulation, and mobility tasks. The goal of this work is to improve the uBot’s ability to sense and interact with its environment in order to increase the platforms capability to operate dexterously, through the incorporation of joint torque feedback, and safely, through the implementation of passive and active compliance. This is accomplished through incorporating series elastic actuators in its arms and torso joints, improving the mechanical design to reduce backlash, and incorporating impedance controllers in the robot. The focus of this thesis is the development of the mechanical, sensor, and controller design for the uBot-7 platform. An impedance controller is developed and evaluated on a bench top prototype series elastic actuator.
DOI
https://doi.org/10.7275/6054118
First Advisor
Frank C Sup IV
Recommended Citation
Cummings, Jonathan, "UBOT-7: THE DESIGN OF A COMPLIANT DEXTEROUS MOBILE MANIPULATOR" (2014). Masters Theses. 78.
https://doi.org/10.7275/6054118
https://scholarworks.umass.edu/masters_theses_2/78
Included in
Controls and Control Theory Commons, Electro-Mechanical Systems Commons, Robotics Commons