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  • ONR: SEA-STAR: Soft Echinoderm-Inspired Appendages for Strong Tactile Amphibious Robots

ONR: SEA-STAR: Soft Echinoderm-Inspired Appendages for Strong Tactile Amphibious Robots

Descriptions

Associate Professor Derek Paley (AE/ISR) is the principal investigator for a $2 million grant from the Office of Naval Research’s Basic Research Challenge Program. Co-principal investigators on the “SEA-STAR: Soft Echinoderm-Inspired Appendages for Strong Tactile Amphibious Robots” grant are Aerospace Engineering Chair Norman Wereley (AE), Associate Professor Carmel Majidi (Carnegie Mellon University), Senior Research Scientist James Weaver (Harvard University), and Professor Robert Wood (Harvard University).

NSF: Resilient Control of Human Controlled Robotic Networks

Descriptions

This a three-year, $380K award. It will investigate resilience of human controlled robotic networks to cyber attacks. These systems extend the human capability to manipulate objects remotely with the help of robotic systems and communication networks. Several application areas such as operations in hazardous environments, undersea exploration, robotic surgery, drilling, etc. are significantly impacted by this technology. However, the use of communication networks can lead to man-in-the-middle or malware attacks that can severely compromise the safety and performance of these systems.

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  • The Master of Science in Systems Engineering Degree

The Master of Science in Systems Engineering Degree

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  • Systems engineering graduate core curriculum

Systems engineering graduate core curriculum

Vibratory Linear Motor Systems

Abstract

A vibratory linear motor system employs a comb-shaped electromagnet to excite transverse mechanical oscillations of a relatively thin, spring-like beam. The electromagnet establishes an approximate standing wave on the beam for which brakes mounted on either side of the beam provide independently established boundary conditions and produce rectified linear motion thereof. The brakes may be electromagnetically, magnetostrictively, or piezoelectrically actuated.

Modular Dexterous Hand

Abstract

A modular dexterous grasping hand comprises three rotatable fingers mounted on the mounting plate of a Stewart platform for rotation about parallel axes extending perpendicular to the mounting plate. The fingers have a generally L shape so that the grasping elements at the distal ends of the fingers are spaced from the rotational axes. The grasping elements can thus be positioned along the arcs of circles centered on the rotational axes, and so form grasping triangles of variable shapes and sizes. The fingers are independently driven by motors mounted to the mounting plate.

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  • Anti-Backlash Drive Systems for Multi-Degree Freedom Devices

Anti-Backlash Drive Systems for Multi-Degree Freedom Devices

Abstract

A new and innovative concept for the control of backlash in gear-coupled transmission mechanisms. The concept utilizes redundant unidirectional drives to assure positive coupling of gear meshes at all times. Based on this concept, a methodology for the enumeration of admissible redundant-drive backlash-free robotic mechanisms has been established. Some typical two- and three-DOF mechanisms are disclosed. Furthermore, actuator torques have been derived as functions of either joint torques or end-effector dynamic performance requirements.

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  • Six-Degree-of-Freedom Parallel Minimanipulator with Three Inextensible Limbs

Six-Degree-of-Freedom Parallel Minimanipulator with Three Inextensible Limbs

Abstract

A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform.

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  • Simplified and Symmetrical Five-Bar Linkage Driver for Manipulating a Six-Degree-of-Freedom Parallel "Minimanipulator" with Three Inextensible Limbs

Simplified and Symmetrical Five-Bar Linkage Driver for Manipulating a Six-Degree-of-Freedom Parallel "Minimanipulator" with Three Inextensible Limbs

Abstract

A Six-Degree-of-Freedom Parallel-Manipulator having three inextensible limbs for manipulating a platform is described in which the three inextensible limbs are attached via universal joints to the platform at non-collinear points. Each of the inextensible limbs is also attached via universal joints to a two-degree-of-freedom parallel driver such as a five-bar lineage, a pantograph, or a bidirectional linear stepper motor. The drivers move the lower ends of the limbs parallel to a fixed base and thereby provide manipulation of the platform.

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