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dc.contributor.advisor Aly, Mohamed Fawzy AboZaied, AbdAllah Ezzat 2019-02-05T08:19:53Z 2019-02-05T22:00:19Z Fall 2018 en_US 2019-02-05
dc.description.abstract Robots mainly consist of links and joints, hence studying different joints and coming up with new joints will contribute in advancing robots. The methodology used in this thesis is; Proofing the concept of the Omni-Joint by theoretical analysis and manufacturing a prototype, comparing the following revolute joints; Omni-Joints, Hooke’s joint, and Ordinary joint. The comparison is regarding; points of singularity, range of field of motion, inverse kinematics and applying it on different paths using MATLAB, and finally studying the stresses on the Omni-Joint using FEM with CAD software AutoDesk-Inventor in different postures. The results are that unlike the Ordinary-joint and the Hooke-joint the Omni-Joint has; no singularities, continues range of field of motion, simple one to one kinematics. en_US
dc.description.sponsorship I would like to thank; my Parents for supporting my ingenuity, my Wife for standing by my side during hard times, my Daughter for being the joy of my life, my friend Ayman for being there at the beginning working on the Omni-Joint, my closest friend Al-Moatasem for his devotion to help me whenever I need, Dr. Ahmed Hussien (ASU) for his advice that gave me a spark to move to my goal, Dr. Fouad Murad and Mrs. Viviane Zaccour for believing in me and my invention (Omni-Joint),, Dr. Maher Younan and Dr. Adel Elsabbagh (ASU) for giving me the chance to start my academic work, Dr. Maki Habib for encouraging a free choice of fields of research, and Dr. Mohamed Fawzy Aly for his supervision support and encouragement that I needed. en_US
dc.format.extent 131 p. en_US
dc.format.medium theses en_US
dc.language.iso en en_US
dc.rights Author retains all rights with regard to copyright. en
dc.subject Ball joint en_US
dc.subject Joint en_US
dc.subject Kinematic en_US
dc.subject Omni joint en_US
dc.subject Omni-joint en_US
dc.subject Wrist joint en_US
dc.subject.lcsh Thesis (M.S.)--American University in Cairo en_US
dc.title Omni-joint; proof of concept & comparative Study en_US
dc.type Text en_US
dc.subject.discipline Robotics, Control and Smart Systems en_US
dc.rights.access This item is available en_US
dc.contributor.department American University in Cairo. School of Engineering Interdisciplinary Program en_US
dc.description.irb American University in Cairo Institutional Review Board approval has been obtained for this item. en_US
dc.contributor.committeeMember Younan, Maher
dc.contributor.committeeMember Megahed, Saied
dc.contributor.committeeMember Seddik, Karim

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  • Theses and Dissertations [1863]
    This collection includes theses and dissertations authored by American University in Cairo graduate students.

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