Design of a Teleoperated Rock Sampling System

dc.contributor.authorThomas, Shajan A.en
dc.contributor.committeechairKochersberger, Kevin B.en
dc.contributor.committeememberWilliams, Christopher B.en
dc.contributor.committeememberHong, Dennis W.en
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2014-03-14T20:44:54Zen
dc.date.adate2011-09-29en
dc.date.available2014-03-14T20:44:54Zen
dc.date.issued2011-07-11en
dc.date.rdate2011-09-29en
dc.date.sdate2011-09-06en
dc.description.abstractTelemanipulators allow a user to interact with a potentially dangerous environment remotely. Deploying a robot arm from a UAV would allow an operator to reach farther and quicker than he or she would with a ground robotics system alone. This thesis will discuss the design and fabrication of a compact, light, 3 degree of freedom robot arm using common off the shelf products and machined components that in combination can pick up half pound samples and has a reach of 260 mm. Also addressed is making the telemanipulator interface easier to use. One of the challenges in using a robot arm with a single camera in a beyond line-of-sight scenario is the difficulty of interacting with the environment because of a loss of depth information. This lack of information can be remedied with additional sensors. Once depth to an object of interest is known, the sampler can automatically pick up objects of interest. The manipulator arm will be used in conjunction with systems developed by the Unmanned Systems Laboratory at Virginia Tech. This group is developing a unmanned ground vehicle to be carried in the payload pod of a unmanned aerial vehicle. The robot's ultimate objective is to collect shrapnel and bomb material from potentially dangerous environments.en
dc.description.degreeMaster of Scienceen
dc.identifier.otheretd-09062011-155734en
dc.identifier.sourceurlhttp://scholar.lib.vt.edu/theses/available/etd-09062011-155734/en
dc.identifier.urihttp://hdl.handle.net/10919/34952en
dc.publisherVirginia Techen
dc.relation.haspartThomas_ShajanA_T_2011.pdfen
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectDesignen
dc.subjectAutonomous Systemsen
dc.subjectRobot Armen
dc.titleDesign of a Teleoperated Rock Sampling Systemen
dc.typeThesisen
thesis.degree.disciplineMechanical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameMaster of Scienceen

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