Date of Award

Spring 1990

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical & Aerospace Engineering

Program/Concentration

Engineering Mechanics

Committee Director

Thomas E. Alberts

Committee Member

Jen K. Huang

Committee Member

Griffith McRee

Committee Member

F. Wallace Harrison

Call Number for Print

Special Collections; LD4331.E57L69

Abstract

Future space missions may require the utilization of automation technology for assembly, maintenance, repair, and a variety of repetitive or hazardous operations. Many tasks which are likely candidates for robotic or telerobotic execution are either difficult or impossible to duplicate in the laboratory. With an accurate simulation package, many of these tasks can be evaluated by computer simulation before committing the resources required for laboratory experimentation. With this motivation, the ROBSIM robot simulation software has been developed by NASA Langley Research Center in conjunction with the Martin Marietta Corporation. ROBSIM is a versatile tool with features including the ability to accommodate mobile bases and multiple arms. The dynamic simulation is formulated to account for manipulator link structure kinetics, discrete time control implementation, DC motor electrical and mechanical characteristics, stiction and coulomb friction, and amplifier saturation. This paper presents the results of an experimental and analytical investigation to validate and refine the manipulator dynamic simulation capabilities of ROBSIM. This represents the first endeavor to validate ROBSIM's dynamic simulation capabilities. Primary emphasis is placed upon actuator nonlinearities and gear train compliance. A brief outline of the structure of ROBSIM, and a description of its features, is included.

Rights

In Copyright. URI: http://rightsstatements.org/vocab/InC/1.0/ This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s).

DOI

10.25777/xbzs-0x36

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