dc.contributor.author |
Babikian, Sevag Haroutioun. |
dc.date.accessioned |
2013-10-02T09:21:41Z |
dc.date.available |
2013-10-02T09:21:41Z |
dc.date.issued |
2012 |
dc.identifier.uri |
http://hdl.handle.net/10938/9465 |
dc.description |
Thesis (M.E.)--American University of Beirut, Department of Mechanical Engineering, 2012. |
dc.description |
Advisor : Dr. Elie Shammas, Assistant Professor, Department of Mechanical Engineering--Advisor : Dr. Daniel Asmar, Assistant Professor, Department of Mechanical Engineering--Member of Committee : Dr. Imad Elhajj Associate Professor, Department of Electrical and Computer Engineering. |
dc.description |
Includes bibliographical references (leaf 70-71) |
dc.description.abstract |
Research in the biorobotics domain, and more specifically in the domain of serpentine robotics has been focused on mimicking biological locomotion. Furthermore, these under-actuated multi-link robots have been extensively analyzed to generate biological and nonbiological gaits. Two-link systems, being the simplest in this family of mechanisms, have only one controlled degree of freedom consisting of the inter-link angle, a fact that makes its gait generation extremely complex. This thesis analyzes these simple planar systems in a viscous environment in order to generate displacements in different directions. The interaction of the system with the environment will be limited to viscous friction applied to specific friction pads located on the links. The nonlinear equations of motion will be extensively analyzed, resulting in analytical solutions for the location of the pads and the type of input angle required for displacement in two different directions. The analysis is based on qualitative properties of the different terms in equations of motion, which makes it applicable to any system with similar properties. Simulation results for movement in two different directions will validate the different conclusions made throughout the analysis. |
dc.format.extent |
xiii, 71 leaves : ill. (some col.) ; 30 cm. |
dc.language.iso |
eng |
dc.relation.ispartof |
Theses, Dissertations, and Projects |
dc.subject.classification |
ET:005725 AUBNO |
dc.subject.lcsh |
Robotics. |
dc.subject.lcsh |
Motion -- Planning. |
dc.subject.lcsh |
Dynamics. |
dc.subject.lcsh |
Animal locomotion. |
dc.title |
Gait generation for two link planar system in viscous environment |
dc.type |
Thesis |
dc.contributor.department |
American University of Beirut. Faculty of Engineering and Architecture. Department of Mechanical Engineering. |