Date of Award

12-1992

Document Type

Thesis

Degree Name

Master of Science

Department

Department of Aeronautics and Astronautics

First Advisor

Curtis H. Spenny, PhD

Abstract

The performance of an automation or robotic device can be measured in terms of its power efficiency. Screw theory is used to mathematically define the task instantaneously with two screws. The task wrench defines the effect of the device on its environment, and the task twist describes the motion of the device. The tasks can be separated into three task types: kinetic, manipulative, and reactive. Efficiency metrics are developed for each task type. The output power is strictly a function of the task screws, while device input power is shown to be a function of the task, the device Jacobian, and the actuator type. Expressions for input power are developed for two common types of actuators, DC servometers and hydraulic actuators. Simple examples are used to illustrate how power analysis can be used for task/workspace planning, actuator selection, device configuration design, and redundancy resolution. Robotics, Power efficiency, Screw theory, Actuator models.

AFIT Designator

AFIT-GA-ENY-92D-12

DTIC Accession Number

ADA259080

Comments

The author's Vita page is omitted.

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