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Design of a Wearable Cobot

Title: Design of a Wearable Cobot.
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Name(s): Chua, Jason Yap, author
Moore, Carl A., professor directing thesis
Roberts, Rodney, outside committee member
Hollis, Patrick, committee member
Department of Mechanical Engineering, degree granting department
Florida State University, degree granting institution
Type of Resource: text
Genre: Text
Issuance: monographic
Date Issued: 2006
Publisher: Florida State University
Florida State University
Place of Publication: Tallahassee, Florida
Physical Form: computer
online resource
Extent: 1 online resource
Language(s): English
Abstract/Description: Cobots are specially designed robots that use continuously variable transmissions (CVTs) instead of traditional motor driven joints. Cobots are an attractive choice for telerobotic master controllers because they are safe in contact with humans and are able to produce stable, high quality virtual surfaces that can constrain the motion of the master to directions suitable for telerobotic task completion. This thesis describes the design of a 3-DOF, cable driven, wearable arm master controller and provides the details on the construction and assembly of the shoulder joint. Solidworks CAD was used to design the wearable cobot. After shoulder capstans and shafts were machined the device was assembled and tested. The rotational stiffness for the shoulder joint was found to be 1.58*105 lb-in/rad and the start torque was found to be 16.5 lb-in. Improvements and future work are also discussed.
Identifier: FSU_migr_etd-3617 (IID)
Submitted Note: A Thesis submitted to the Department of Mechanical Engineering in partial fulfillment of the requirements for the degree of Master of Science.
Degree Awarded: Spring Semester, 2006.
Date of Defense: February 23, 2006.
Keywords: Haptics, Exoskeleton, Telerobotics, Robotics, Cable Transmission, Cobot, Wearable Robotics
Bibliography Note: Includes bibliographical references.
Advisory Committee: Carl A. Moore, Professor Directing Thesis; Rodney Roberts, Outside Committee Member; Patrick Hollis, Committee Member.
Subject(s): Mechanical engineering
Persistent Link to This Record: http://purl.flvc.org/fsu/fd/FSU_migr_etd-3617
Use and Reproduction: 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). The copyright in theses and dissertations completed at Florida State University is held by the students who author them.
Host Institution: FSU

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Chua, J. Y. (2006). Design of a Wearable Cobot. Retrieved from http://purl.flvc.org/fsu/fd/FSU_migr_etd-3617