Award Date

1-1-1988

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Civil and Mechanical Engineering

First Committee Member

William Culbreth

Number of Pages

266

Abstract

Interactive computer simulation software in the area of robotics is becoming increasingly important. The present work involved the creation of a computer simulation software package for an elastic robotic arm. The computer simulation was unique in four major areas. Using a specialized Silicon Graphics IRIS Workstation, a three-dimensional model of the three-link elastic robotic arm, controlled by two hydraulic actuators, was created. The software simulation developed in the present work was highly interactive with the user. The user is able to move the different links, change parameters, and alter dynamic applied forces. The kinematics were modelled. A user was allowed to change the kinematic variables by either moving the different links or by changing the magnitude of the two actuator forces. The deformations of the robotic arm were modelled and presented in both graphic and analytical form.

Keywords

Arm; Computerized; Dimensional; Elastic; Model; Robotic; Three-link; Silicon Graphics IRIS Workstation

Controlled Subject

Mechanical engineering; Computer science

File Format

pdf

File Size

5795.84 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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