Full Text Available
Note: Clicking the button above will open the full text document at the original institutional repository in a new window.
Omni-joint; proof of concept & comparative Study
Robots mainly consist of links and joints, hence studying different joints and coming up with new joints will contribute in advancing robots. The methodology used in this thesis is; Proofing the concept of the Omni-Joint by theoretical analysis and manufacturing a prototype, comparing the followi...
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis |
| Published: |
AUC Knowledge Fountain
2019
|
| Subjects: | |
| Tags: |
No Tags, Be the first to tag this record!
|
| _version_ | 1867613411954655232 |
|---|---|
| access_status_str | Open Access |
| author | AboZaied, AbdAllah Ezzat |
| author_browse | AboZaied, AbdAllah Ezzat |
| author_facet | AboZaied, AbdAllah Ezzat |
| author_sort | AboZaied, AbdAllah Ezzat |
| collection | Thesis |
| dc_rights_str_mv | The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. |
| description | Robots mainly consist of links and joints, hence studying different joints and coming up with new joints will contribute in advancing robots. The methodology used in this thesis is; Proofing the concept of the Omni-Joint by theoretical analysis and manufacturing a prototype, comparing the following revolute joints; Omni-Joints, Hooke's joint, and Ordinary joint. The comparison is regarding; points of singularity, range of field of motion, inverse kinematics and applying it on different paths using MATLAB, and finally studying the stresses on the Omni-Joint using FEM with CAD software AutoDesk-Inventor in different postures. The results are that unlike the Ordinary-joint and the Hooke-joint the Omni-Joint has; no singularities, continues range of field of motion, simple one to one kinematics. |
| format | Thesis |
| id | oai:fount.aucegypt.edu:etds-1759 |
| institution | American University in Cairo (Egypt) |
| last_indexed | 2026-06-10T12:35:43.583Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from AUC Knowledge Fountain — bepress |
| publishDate | 2019 |
| publishDateRange | 2019 |
| publishDateSort | 2019 |
| publisher | AUC Knowledge Fountain |
| publisherStr | AUC Knowledge Fountain |
| record_format | dspace |
| source_str | AUC Knowledge Fountain — bepress |
| spelling | oai:fount.aucegypt.edu:etds-1759 Omni-joint; proof of concept & comparative Study AboZaied, AbdAllah Ezzat Robots mainly consist of links and joints, hence studying different joints and coming up with new joints will contribute in advancing robots. The methodology used in this thesis is; Proofing the concept of the Omni-Joint by theoretical analysis and manufacturing a prototype, comparing the following revolute joints; Omni-Joints, Hooke's joint, and Ordinary joint. The comparison is regarding; points of singularity, range of field of motion, inverse kinematics and applying it on different paths using MATLAB, and finally studying the stresses on the Omni-Joint using FEM with CAD software AutoDesk-Inventor in different postures. The results are that unlike the Ordinary-joint and the Hooke-joint the Omni-Joint has; no singularities, continues range of field of motion, simple one to one kinematics. 2019-06-01T07:00:00Z thesis application/pdf https://fount.aucegypt.edu/etds/760 https://fount.aucegypt.edu/context/etds/article/1759/viewcontent/Omni_Joint__20Proof_20of_20Concept_20_26_20Comparative_20Study.pdf The author retains all rights with regard to copyright. The author certifies that written permission from the owner(s) of third-party copyrighted matter included in the thesis, dissertation, paper, or record of study has been obtained. The author further certifies that IRB approval has been obtained for this thesis, or that IRB approval is not necessary for this thesis. Insofar as this thesis, dissertation, paper, or record of study is an educational record as defined in the Family Educational Rights and Privacy Act (FERPA) (20 USC 1232g), the author has granted consent to disclosure of it to anyone who requests a copy. Theses and Dissertations AUC Knowledge Fountain Ball joint Joint |
| spellingShingle | Ball joint Joint AboZaied, AbdAllah Ezzat Omni-joint; proof of concept & comparative Study |
| title | Omni-joint; proof of concept & comparative Study |
| title_full | Omni-joint; proof of concept & comparative Study |
| title_fullStr | Omni-joint; proof of concept & comparative Study |
| title_full_unstemmed | Omni-joint; proof of concept & comparative Study |
| title_short | Omni-joint; proof of concept & comparative Study |
| title_sort | omni joint proof of concept comparative study |
| topic | Ball joint Joint |
| url | https://fount.aucegypt.edu/etds/760 https://fount.aucegypt.edu/context/etds/article/1759/viewcontent/Omni_Joint__20Proof_20of_20Concept_20_26_20Comparative_20Study.pdf |
| work_keys_str_mv | AT abozaiedabdallahezzat omnijointproofofconceptcomparativestudy |