The Viability of Humanoid Robotics Utilizing the Kinetic Chain Approach, Assessed in the Optimization of a Thrown Disc
Description
The objective goal of this research is to maximize the speed of the end effector of a three link R-R-R mechanical system with constrained torque input control. The project utilizes MATLAB optimization tools to determine the optimal throwing motion of a simulated mechanical system, while mirroring the physical parameters and constraints of a human arm wherever possible. The analysis of this final result determines if the kinetic chain effect is present in the theoretically optimized solution. This is done by comparing it with an intuitively optimized system based on throwing motion derived from the forehand throw in Ultimate frisbee.
Date Created
The date the item was original created (prior to any relationship with the ASU Digital Repositories.)
2022-05
Agent
- Author (aut): Hartmann, Julien
- Thesis director: Grewal, Anoop
- Committee member: Redkar, Sangram
- Contributor (ctb): Barrett, The Honors College
- Contributor (ctb): School of International Letters and Cultures
- Contributor (ctb): Mechanical and Aerospace Engineering Program