Loughborough University
Thesis-1983-Udoakang.pdf (3.57 MB)

Robots aiding new developments of manipulative machinery

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posted on 2013-12-06, 13:33 authored by Ndianabasi H.J. Udoakang
Application of fixed-arm robots in such manipulative machinery as those used in welding, cutting, packaging etc, has been limited due either to insufficient rigidity in the arm for the transmission of large forces and torques, or to the high cost of improving upon its rigidity. This work develops a cheap robotic device in the form of a linkage mechanism and tests it on a laboratory rig for positional accuracy. The closed-loop nature of the mechanism ensures sufficient rigidity, and system vibrations are greatly checked. The goal is to use this device for such jobs as the optimization of cam profiles prior to cutting them, guidance of a cutting torch, welding of flat and spherical surfaces, etc. A number of these devices can be arranged around a working space to perform a set of tasks. Put differently, this is an exercise in digital control of machine elements [continued]...



  • Mechanical, Electrical and Manufacturing Engineering


© Ndianabasi Udoakang

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A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy of Loughborough University.


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    Mechanical, Electrical and Manufacturing Engineering Theses