Type of Document	Thesis
Author	Chua, Jason Yap
Author's Email Address	jyapchua@gmail.com
URN	etd-03012006-152943
Title	Design of a Wearable Cobot
Degree	Master of Science
Department	Mechanical Engineering, Department of
Advisory Committee	Advisor Name Title Carl A. Moore Committee Chair Patrick Hollis Committee Member Rodney Roberts Committee Member
Keywords	Haptics Exoskeleton Telerobotics Robotics Cable Transmission Cobot Wearable Robotics
Date of Defense	2006-02-23
Availability	unrestricted
Abstract Cobots are specially designed robots that use continuously variable transmissions (CVTs) instead of traditional motor driven joints. Cobots are an attractive choice for telerobotic master controllers because they are safe in contact with humans and are able to produce stable, high quality virtual surfaces that can constrain the motion of the master to directions suitable for telerobotic task completion. This thesis describes the design of a 3-DOF, cable driven, wearable arm master controller and provides the details on the construction and assembly of the shoulder joint. Solidworks CAD was used to design the wearable cobot. After shoulder capstans and shafts were machined the device was assembled and tested. The rotational stiffness for the shoulder joint was found to be 1.58*105 lb-in/rad and the start torque was found to be 16.5 lb-in. Improvements and future work are also discussed.
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