Accession Number : ADA266812


Title :   The Further Development and Refinement of an Expert-Systems Approach to the Creative Design of Mechanisms and Mechanical Systems


Descriptive Note : Final rept. 1 Jun 90-30 May 93,


Corporate Author : COLUMBIA UNIV NEW YORK


Personal Author(s) : Freudenstein, Ferdinand ; Hoeltzel, David


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a266812.pdf


Report Date : Jun 1993


Pagination or Media Count : 18


Abstract : The research has been concerned with a comprehensive analysis of robotic end effectors including frictional energy dissipation and rigid-body as well as flexible elements. The design analysis involves a set of nonlinear simultaneous equations of quantifying such phenomena as preloads, internal forces, frictional drag, kinematic and dynamic performance and optimization criteria, energy losses and efficiency. The analysis facilities the optimization of robotic systems in the design stage. A new concept, which we may call a cylindrical actuator, was developed in the course of the research (and communicated to ARO) and may have significant applications, both in robotics, as well as in other areas of mechanical design.


Descriptors :   *ROBOTICS , KINEMATICS , OPTIMIZATION , DYNAMICS , FACILITIES , ENERGY , EFFICIENCY , DISSIPATION , MECHANICS , INTERNAL , LOSSES , EQUATIONS , DRAG , BODIES , SIMULTANEOUS EQUATIONS


Subject Categories : Navigation and Guidance


Distribution Statement : APPROVED FOR PUBLIC RELEASE