التفاصيل البيبلوغرافية
| العنوان: |
Compliant articulated robot leg with antagonistic LADD actuation |
| المؤلفون: |
Mennitto, Giuseppe |
| المساهمون: |
Buehler, M. (advisor) |
| بيانات النشر: |
McGill University |
| سنة النشر: |
1995 |
| المجموعة: |
Theses Canada / Thèses Canada (Library and Archives Canada) |
| مصطلحات موضوعية: |
Engineering, Mechanical |
| جغرافية الموضوع: |
Master of Engineering (Department of Mechanical Engineering.) |
| الوصف: |
This thesis describes a new Compliant Articulated Robot Leg (CARL) which is a prototype leg for an autonomous quadruped robot. The leg is designed for dynamic walking, trotting and bounding gaits, with an expected top speed of 3m/s. To facilitate the construction of multi-legged creatures, the leg was designed as a modular, self-contained unit with integrated amplifiers and control electronics. It is an articulated 3 DOF design with revolute joints as opposed to prismatic joints for improved mobility, simplicity and low friction. It employs electric actuation instead of hydraulics for indoor power autonomy, improved modeling, control and reliability. The use of fractional horsepower DC motors in a running robot is feasible through a novel AnTagonistic LADD Actuation System (ATLAS) which converts motor effort to high joint torques with similar efficiencies as the best conventional transmissions, but at substantial weight savings. |
| نوع الوثيقة: |
thesis |
| وصف الملف: |
application/pdf |
| اللغة: |
English |
| العلاقة: |
alephsysno: 001459949; proquestno: MM05463; Theses scanned by UMI/ProQuest.; http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22664Test |
| الإتاحة: |
http://digitool.Library.McGill.CA:80/R/?func=dbin-jump-full&object_id=22664Test |
| حقوق: |
All items in eScholarship@McGill are protected by copyright with all rights reserved unless otherwise indicated. |
| رقم الانضمام: |
edsbas.75204695 |
| قاعدة البيانات: |
BASE |
