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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

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