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Spherical Deployable Shield for Robot Arm.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Spherical Deployable Shield for Robot Arm./
Author:	Lee, Joon Haeng.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
Description:	52 p.
Notes:	Source: Masters Abstracts International, Volume: 83-01.
Contained By:	Masters Abstracts International83-01.
Subject:	Architectural engineering. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28540622
ISBN:	9798516912801

Spherical Deployable Shield for Robot Arm.
Lee, Joon Haeng.

Spherical Deployable Shield for Robot Arm. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 52 p.

Source: Masters Abstracts International, Volume: 83-01.

Thesis (M.Des.)--Harvard University, 2021.

This item must not be sold to any third party vendors.

This thesis focuses on the construction of deployable shields for robot arms in extraterrestrial situations that protect them from possible threats by minimizing the area of the robot's end-effector that is exposed to external job site conditions. The deployability is key since the shield's shape should be compact not to hinder robot's movement when folded, but also able to adapt to the various geometrical characteristics of the job site when deployed, which could include flat surfaces, curved domes, or even edged areas. To address this necessity and meet those constraints for the shield, this research proposes a deployable spherical shield after exploring a few of the potential possibilities.The research explores scissor, parallelogram, and spherical linkage patterns as possible ways of creating deployable spherical geometries. Parametric modeling and simulation of those linkages were conducted to analyze deployment movement and possible collision. Ultimately, the research focused on a multi-layered spherical linkage construction method that can create a fully covered sphere surface while minimizing overlapping area while it is deployed. Physical prototypes actuated by multiple motors demonstrate how this method can be used to achieve the goal of creating deployable shields that are adaptable and provide full-coverage. This research has great potential for robot arm applications in a variety of risky environments both extraterrestrial and terrestrial.

ISBN: 9798516912801Subjects--Topical Terms:

3174102
Architectural engineering.
Subjects--Index Terms:

Deployable surface

Spherical Deployable Shield for Robot Arm.
LDR:02650nmm a2200397 4500 001 2348908
005 20220920134618.5
008 241004s2021 ||||||||||||||||| ||eng d
020 $a 9798516912801
035 $a (MiAaPQ)AAI28540622
035 $a AAI28540622
040 $a MiAaPQ $c MiAaPQ
100 1 $a Lee, Joon Haeng. $3 3688291
245 1 0 $a Spherical Deployable Shield for Robot Arm.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2021
300 $a 52 p.
500 $a Source: Masters Abstracts International, Volume: 83-01.
500 $a Includes supplementary digital materials.
500 $a Advisor: Hoberman, Chuck.
502 $a Thesis (M.Des.)--Harvard University, 2021.
506 $a This item must not be sold to any third party vendors.
520 $a This thesis focuses on the construction of deployable shields for robot arms in extraterrestrial situations that protect them from possible threats by minimizing the area of the robot's end-effector that is exposed to external job site conditions. The deployability is key since the shield's shape should be compact not to hinder robot's movement when folded, but also able to adapt to the various geometrical characteristics of the job site when deployed, which could include flat surfaces, curved domes, or even edged areas. To address this necessity and meet those constraints for the shield, this research proposes a deployable spherical shield after exploring a few of the potential possibilities.The research explores scissor, parallelogram, and spherical linkage patterns as possible ways of creating deployable spherical geometries. Parametric modeling and simulation of those linkages were conducted to analyze deployment movement and possible collision. Ultimately, the research focused on a multi-layered spherical linkage construction method that can create a fully covered sphere surface while minimizing overlapping area while it is deployed. Physical prototypes actuated by multiple motors demonstrate how this method can be used to achieve the goal of creating deployable shields that are adaptable and provide full-coverage. This research has great potential for robot arm applications in a variety of risky environments both extraterrestrial and terrestrial.
590 $a School code: 0084.
650 4 $a Architectural engineering. $3 3174102
650 4 $a Design. $3 518875
650 4 $a Robotics. $3 519753
653 $a Deployable surface
653 $a Spherical linkage
653 $a Robotic arm
653 $a Extraterrestrial
653 $a Folding
653 $a Shielding
690 $a 0462
690 $a 0389
690 $a 0771
710 2 $a Harvard University. $b Advanced Studies Program. $3 3559407
773 0 $t Masters Abstracts International $g 83-01.
790 $a 0084
791 $a M.Des.
792 $a 2021
793 $a English
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28540622