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Title: Minimizing manipulator performance variability by selecting control parameters and tolerances for optimal robust designs of manipulators
Researcher: Rout, Bijay Kumar
Guide(s): Mittal R K
Keywords: manipulator performance variability, optimal robust designs
University: Birla Institute of Technology and Science
Completed Date: 
Abstract: A robotic arm must manipulate objects with a high degree of accuracy and repeatability. It has been well recognized that quality can be significantly improved during the early design stage if appropriate quality engineering methods are used. While much research has been done in field of robotics and robust design, but attempt to combine robotic manipulator design concepts with robust design techniques are rare. This deficiency significantly limits the performance of manipulator due to lack of proper selection of design parameters and tolerance. The motivation of this thesis is to develop an integrated methodology to reduce performance variations of manipulator by selecting optimal design parameters and tolerances.
Pagination: xiii
Appears in Departments:Mechanical Engineering

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ch-10-appendix.pdfAttached File60.76 kBAdobe PDFView/Open
ch1-2.pdf1.38 MBAdobe PDFView/Open
ch-3.pdf191.68 kBAdobe PDFView/Open
ch-4.pdf505.01 kBAdobe PDFView/Open
ch-5.pdf312.32 kBAdobe PDFView/Open
ch-6.pdf384.68 kBAdobe PDFView/Open
ch-7.pdf159.27 kBAdobe PDFView/Open
ch-8.pdf54.83 kBAdobe PDFView/Open
ch-9-ref.pdf107.32 kBAdobe PDFView/Open

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