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dc.contributor.advisorSmith, David L.
dc.contributor.authorIngram, John David, Jr.
dc.dateDecember 1988
dc.date.accessioned2012-11-27T18:18:06Z
dc.date.available2012-11-27T18:18:06Z
dc.date.issued1988
dc.identifier.urihttp://hdl.handle.net/10945/23313
dc.description.abstractWith the increased use of robots in industry and the military, new robot-specific actuators will be developed to better meet functional requirements. One concept to be considered is a stiff pneumatic-hydraulic actuator for mobile anthropomorphic robot application. This thesis documents analysis of the feasibility of such an actuator. Computer modeling and simulation are accomplished. A hardware test bed with microcomputer control and parameter sensing interface is designed and constructed for the purpose of model validation and demonstrations. Automatic control software is designed and implemented on the test bed, and performance evaluations are made. From the observations made during the analysis process, design recommendations are formulated and proposed.
dc.description.urihttp://archive.org/details/modelingndcontro1094523313
dc.format.extent112 p.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
dc.titleModeling and control of a novel robotic actuatoren_US
dc.typeThesisen_US
dc.contributor.departmentMechanical Engineering
dc.subject.authorRobotics
dc.subject.authorDesign
dc.subject.authorMechanical Analysis
dc.description.serviceLieutenant Commander, United States Navy
etd.thesisdegree.nameM.S. in Mechanical Engineeringen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.


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