Princeton University Library Catalog

Cubic Inch Robotic Arm (CIRA)

Author/​Artist:
Format:
Senior thesis
Language:
English
Advisor(s):
Stengel, Robert [Browse]
Department:
Princeton University. Department of Mechanical and Aerospace Engineering [Browse]
Class year:
2015
Description:
93 pages
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.