SUPERVISORS |
|
| Supervisor - 1 | A/P Yeo Song Huat |
| Supervisor - 2 | - |
DETAILS |
|
| Proj No | B191 |
| Title | Position and Force Control of A Cable-driven Mechanism |
| Objective | To implement the position and force control for a cable-driven mechanism |
| Scope | Inchworm or snake like robots can crawl or move in highly constrained environment such as maintenance conduit for buildings and factories, and human intestines and blood vessels. Research interests in this area have been raised because of the trend in the reduction of maintenance manpower and the need for quality surgical operations. Usually, these machines will move themselves in repetitive patterns, termed gaits, through the friction between the devices and the constrained environment. Currently, we have a prototype of the inchworm robot in our School for the investigation of robot locomotion. Because the mechanical structure of the inchworm-like robot is composed of multiple segments with identical functions, many possible gaits can be generated to move the robot. In this project, we will investigate the basic gait planning algorithms using artificial intelligence techniques and finite automata theory. The algorithms will be implemented on a PC controller connected to the inchworm robot. Effort will be focus on the integration of gait generation and planning algorithms and the experimental inchworm robot platform. |
| Prerequisites | C or C++ programming; Visual Basics |
| Area - 1 | Controls |
| Area - 2 | Mathematics & Computing |
| Area - 3 | Mechatronics |
| Category | Investigation and Analysis |
| SRP | - |
| Stream | Mechatronics |
| ISP | No |
WEIGHTAGE |
|
| Literature Survey | 10 |
| Software development | 20 |
| Software Application | 10 |
| Laboratory/site investigation | 40 |
| Numerical analysis and mathematical formulation | 20 |