A Novel Approach to the Part Orientation Problem for Robotic Asse
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A Novel Approach to the Part Orientation Problem for Robotic Asse
Marquette Universitye-Publications(a>MarquetteMaster's ’theses (2009 -)Dissertations, 'theses, and Professional ProjectsA Novel Approach to the Part O A Novel Approach to the Part Orientation Problem for Robotic AsseOrientation Problem for Robotic Assembly ApplicationsBrian Janies Slaboch Marquette L'mi'erittyRecommended CitationSlaboch, Brian James, 'A Novel Approach to the Part Orientation Problem for Robotic Assembly Applications' (2011). Mwtcr'f Thtsts (20Ơ9-). Paper 73.http: /,•’epcibhcations.marquette.edu A Novel Approach to the Part Orientation Problem for Robotic Asse/theses_open /73A NOVEL APPROACH TO THE PART ORIENTATION PROBLEM FOR ROBOTIC ASSEMBLY APPLICATIONSbyBrian J. Slaboch, B.S.A Thesis Submitted to the FaA Novel Approach to the Part Orientation Problem for Robotic Asse
culty of the Graduate School. Marquette University.ill Partial Fulfillment of the Requirements for the Degree of Master of ScienceMilwaukee, WisconsinMarquette Universitye-Publications(a>MarquetteMaster's ’theses (2009 -)Dissertations, 'theses, and Professional ProjectsA Novel Approach to the Part O A Novel Approach to the Part Orientation Problem for Robotic Asse (Selective Compliant Assembly Robot Arm) typo robots are the most common typo of assembly robots. Those robots have four degrees of freedom (throe rotational and one translational), typically those robots are used for assembly tasks that take place along a vortical axis. Many times, however, assemb A Novel Approach to the Part Orientation Problem for Robotic Assely tasks take plaoo along a non-vertical axis.To account for non-vortical axis assembly, parts must bo fed in a proper orientation to allow for correcA Novel Approach to the Part Orientation Problem for Robotic Asse
t assembly. Parts feeders and specialized end-effectors are typically used to food parts in their proper orientation. This thesis investigates a novelMarquette Universitye-Publications(a>MarquetteMaster's ’theses (2009 -)Dissertations, 'theses, and Professional ProjectsA Novel Approach to the Part O A Novel Approach to the Part Orientation Problem for Robotic Asse SCARA robot with an added selectable degree of freedom.This end-effector aims to bridge the gap between complex anthropomorphic grippers and simple binary grippers. The approach is novel in that the end-effector interacts with the environment to produce the added degree of freedom. New path plannin A Novel Approach to the Part Orientation Problem for Robotic Asseg algorithms were developed to work in conjunction with the novel end-effector. A prototype end-effector was designed, built, and tested to prove theA Novel Approach to the Part Orientation Problem for Robotic Asse
validity of this now approach.ACKNOWLEDGEMENTSBrian J. Slaboch. B.s.I would first and foremost like to thank Dr. Philip A. Voglewede for providing me Marquette Universitye-Publications(a>MarquetteMaster's ’theses (2009 -)Dissertations, 'theses, and Professional ProjectsA Novel Approach to the Part O A Novel Approach to the Part Orientation Problem for Robotic Asseurka and Dr. Joseph Schimmels for their insightful comments and suggestions. A special thanks goes to Jinming Sun and Bryan Bergelin for their continued support and helpful advice. I would also like to thank Tom Silman and Ray Hamilton for their work in the machine shop. Finally, the I would like to A Novel Approach to the Part Orientation Problem for Robotic Asse thank my family and friends for their encouragement and guidance.https://khothuvien.cori!DEDICATIONBrian .1. Slaboch, B.s.I would like to dedicate thA Novel Approach to the Part Orientation Problem for Robotic Asse
is work to my family and friends. Without their love and support none of this Would have been possible.Thank Yon.TABLE OF CONTEXTSACKNOWLEDGEMENTS....Marquette Universitye-Publications(a>MarquetteMaster's ’theses (2009 -)Dissertations, 'theses, and Professional ProjectsA Novel Approach to the Part OMarquette Universitye-Publications(a>MarquetteMaster's ’theses (2009 -)Dissertations, 'theses, and Professional ProjectsA Novel Approach to the Part OGọi ngay
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