This dissertation presents the innovative design and development of PANDORA, a full-sized humanoid robot that stands 1.9 meters tall and weighs 45 kilograms. Its highly configurable structure was created primarily using Additive Manufacturing(AM) techniques. PANDORA is designed to address the limitations of existing humanoid robots, particularly regarding accessibility, cost, and customization for research purposes. The robot features 32 degrees of freedom, enabling it to perform a wide range of human-like motions, such as walking, reaching, and manipulating objects.
The development of PANDORA focuses on leveraging the flexibility of AM to create a lightweight, cost-effective, and easily modifiable robotic platform. The dissertation details the iterative design process, which includes the structural components for weight reduction while maintaining the necessary strength and durability for dynamic movements. The lower body of PANDORA incorporates advanced joint configurations and custom-designed linear actuators, initially developed for previous Terrestrial Robotics and Engineering Controls (TREC) Lab robots, such as THOR and ESCHER. The upper body features a cable-driven arm system, which is both lightweight and highly functional, offering eight degrees of freedom per arm.
A significant contribution of this work is the development of design heuristics for AM, tailored specifically for the construction of large-scale robotic components. These heuristics were validated through extensive finite element analysis (FEA) and physical testing, ensuring the AM parts could withstand the loads and stresses encountered during operation. The open-source nature of the PANDORA platform, including all design files and documentation, further enhances its value to the research community, providing a robust foundation for future developments in humanoid robotics. / Doctor of Philosophy / This dissertation explores the creation of PANDORA, a life-sized robot designed to move and function similarly to a human. PANDORA is nearly 6 feet tall and weighs about 100 pounds, making it comparable in size to an average adult. What sets PANDORA apart from other robots is how it was made—using 3D printing technology, which allowed for a strong and lightweight structure.
The main goal of this project was to develop a robot that researchers and hobbyists could easily build and modify. To achieve this, PANDORA was designed with affordability and accessibility in mind. By using 3D printing, the number of parts needed to build the robot was significantly reduced, making it easier to assemble and less expensive to produce. The robot's design is also open-source, meaning all the plans and details are freely available online, allowing others to build and improve upon this work.
PANDORA has joints that mimic many human movements, such as walking and lifting objects. The arms, for instance, are designed to be both lightweight and highly flexible, making the robot capable of performing tasks that require precision and strength. This research demonstrates how advanced 3D printing can be used to create complex, functional robots and aims to push the boundaries of what is possible in robotics by making these technologies more accessible to everyone.
| Identifer | oai:union.ndltd.org:VTETD/oai:vtechworks.lib.vt.edu:10919/121516 |
| Date | 31 October 2024 |
| Creators | Fuge, Alexander Jonathan |
| Contributors | Mechanical Engineering, Leonessa, Alexander, Johnson, Blake, Williams, Christopher Bryant, Akbari Hamed, Kaveh |
| Publisher | Virginia Tech |
| Source Sets | Virginia Tech Theses and Dissertation |
| Language | English |
| Detected Language | English |
| Type | Dissertation |
| Format | ETD, application/pdf |
| Rights | In Copyright, http://rightsstatements.org/vocab/InC/1.0/ |
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