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Computation and Pre-Parametric Design
(1988-09-01)
My work is broadly concerned with the question "How can designs bessynthesized computationally?" The project deals primarily with mechanical devices and focuses on pre-parametric design: design at the level of detail ...
The Effect of Transmission Design on Force-Controlled Manipulator Performance
(1988-04-01)
Previous research in force control has focused on the choice of appropriate servo implementation without corresponding regard to the choice of mechanical hardware. This report analyzes the effect of mechanical properties ...