test Browse by Author Names Browse by Titles of Works Browse by Subjects of Works Browse by Issue Dates of Works
       

Advanced Search
Home   
 
Browse   
Communities
& Collections
  
Issue Date   
Author   
Title   
Subject   
 
Sign on to:   
Receive email
updates
  
My Account
authorized users
  
Edit Profile   
 
Help   
About T-Space   

T-Space at The University of Toronto Libraries >
School of Graduate Studies - Theses >
Master >

Please use this identifier to cite or link to this item: http://hdl.handle.net/1807/17156

Title: Concurrent Design of Reconfigurable Robots using a Robotic Hardware-in-the-loop Simulation
Authors: Chhabra, Robin
Advisor: Emami, Mohammad Reza
Department: Aerospace Science and Engineering
Keywords: Concurrent Design
Hardware-in-the-loop Simulation
Linguistic Mechatronics
Reconfigurable Robotics
Issue Date: 24-Feb-2009
Abstract: This thesis discusses a practical approach to the concurrent analysis and synthesis of reconfigurable robot manipulators based on the alternative design methodology of Linguistic Mechatronics (LM) as well as the utilization of a modular Robotic Hardware-In-the-Loop Simulation (RHILS) platform. Linguistic Mechatronics is a systematic design methodology for mechatronic systems, which formalizes subjective notions and simplifies the optimization process, in the hope that numerous naturally different design variables can be considered concurrently. The methodology redefines the ultimate goal of design based on the qualitative notions of wish and must satisfactions. The underlying concepts of LM are investigated through a simulation case study. In addition, the RHILS platform involving physical joint modules and a control unit, which takes into account various physical phenomena and reduces the simulation complexities, is employed to the design architecture. Ultimately, the new approach is applied to redesigning kinematic, dynamic and control parameters of an industrial manipulator.
URI: http://hdl.handle.net/1807/17156
Appears in Collections:Master
Institute for Aerospace Studies - Master theses

Files in This Item:

File Description SizeFormat
Chhabra_Robin_200811_MASC_thesis.pdf3.34 MBAdobe PDF
View/Open

This item is licensed under a Creative Commons License
Creative Commons

Items in T-Space are protected by copyright, with all rights reserved, unless otherwise indicated.

uoft