Cubic Inch Robotic Arm (CIRA)

Author/​Artist
Format
Senior thesis
Language
English
Description
93 pages

Details

Advisor(s)
Stengel, Robert [Browse]
Department
Princeton University. Department of Mechanical and Aerospace Engineering [Browse]
Class year
2015
Summary note
The purpose of the Cubic Inch Robotic Arm (CIRA) project is to prototype a benchtop robotic arm capable of grasping objects on the nanoscale. Robotic arm segments and joints were designed to optimize volume and performance. CIRA reasonably operates and demonstrates the effects of different stepping methods on micro-scale maneuvering. This report details the mechanical design of the robot arm segments and joints and successfully tests the feasibility of manufacturing robotic arms to aid in automatic microassembly.

Supplementary Information