Award Date

1-1-1989

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Civil and Mechanical Engineering

First Committee Member

Samaan G. Ladkany

Number of Pages

162

Abstract

The structural design of a flexible three-link hydraulically activated robotic mechanism is presented. Static and quasi dynamic, three-dimensional analysis of the robotic mechanism is shown. Force and deflection equations are derived for the robotic mechanism and the finite element analysis is used to model its dynamic behavior and to study the fundamental 3-D bending and twisting frequencies of the arm as it reaches various positions inside the workspace. Using beam-column theory and finite element method, the design of a flexible three-link robotic mechanism is shown. The flexibility of the arm is set so that the total deflection of the arm is limited to 2%-3% of its maximum reach; and its first two fundamental frequencies are less than 6 Hz. The arm is capable of carrying a load equal or greater to its own weight. (Abstract shortened with permission of author.).

Keywords

Actuated; Analysis; Arm; Design; Flexible; Hydraulic; Robotic; Structural; Three-link

Controlled Subject

Mechanical engineering

File Format

pdf

File Size

3297.28 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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Rights

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