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

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.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1993
Accession Number
ADA266812

Entities

People

  • David Hoeltzel
  • Ferdinand Freudenstein

Organizations

  • Columbia University

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Actuators
  • Ball Joints
  • Cams
  • Computers
  • Drag
  • Equations
  • Expert Systems
  • Graphical User Interface
  • Machines
  • Manufacturing
  • Military Research
  • New York
  • Optimization
  • Robotics
  • Simultaneous Equations
  • Students
  • Systems Approach

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.
  • Tribology (the study of the boundary interaction between sliding surfaces, lubrication, wear and friction).

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy