Document Type

Thesis

Comments

Bachelor of Science in Mechanical Engineering

Thesis adviser: Dr. Matthew Stein

Abstract

This project focuses on the design and evaluation of a rope-cutting module for use with robotic platforms developed by New England Robotics Validation and Experimentation Center (NERVE) and the University of Massachusetts Lowell. The system is designed to cut nylon rope using a specialized robotic cutting arm that can be attached to the robot.

The system consists of a module task box that has two pegs that hold two arms to each one. One arm where the spring- mechanism inside of the task module and the second arm the one on top of the box hold the string in place so that the robot’s arm could cut the string. The Peg is threaded so that when it is rotated it turns enough just enough so that it sets off a sensor to collect data.

The primary objective of this research is to analyze how variations in the spring constant of the spring influence the speed of the task module. A detailed model of the rope-cutting mechanism was developed using SolidWorks, and simulations were conducted using SolidWorks Motion Study. Then MATLAB was used to code to verify the results of SolidWorks by using differential equations to physically calculate what the velocity should be to compare with the resulting velocities of SolidWorks.  These simulations allow the motion of the arms to be analyzed while systematically varying the spring constant within the system. By examining the resulting changes in arm velocity and motion behavior, the relationship between spring stiffness and mechanical performance can be evaluated.

The simulation results are used to guide the selection of optimal spring parameters that allow the cutting mechanism to operate efficiently and consistently. In addition to simulation analysis, the SolidWorks design also serves as the foundation for the construction of the physical rope-cutting module. This because I used the laser cutter to cut out the walls of the box and then used a resign printer to three dimensional (3D) print out the rest of the components. The design process helps ensure that the fabricated module closely follows the simulated model, allowing future comparison between predicted motion behavior and the performance of the physical system.

This research contributes to the development of reliable cutting mechanisms and provides insight into the effectiveness of simulation tools in predicting the behavior of real-world mechanical systems.

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