University of Twente Student Theses
Kinematic design method for a rail mounted inspection robot arm
Huttenhuis, J.A.J. (2015) Kinematic design method for a rail mounted inspection robot arm.
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| Abstract: | A robotic-arm supported by a rail mounted platform is designed. The scenario of a Ballast Water Tank fitted with a rail is converted into a required workspace. Kinematic structures are synthesized and subjected to design criteria. A generic numerical inverse-kinematics method is described which uses the transposed Jacobian and an elastic wrench based on the framework of screw theory. A simulation is used to benchmark the kinematic structures. A proof-of-principle is build and used to validate the simulation results. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Programme: | Mechanical Engineering MSc (60439) |
| Link to this item: | https://purl.utwente.nl/essays/93884 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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