Industrial Relations and "Humanware"

This is a preliminary paper. Please do not quote without the permission of the author. The research on which this paper is based has been conducted with the collaboration of John Paul MacDuffie, MIT. The researchers owe much to the warm cooperation of managers, employees, and union officials of Japanese auto companies and joint venture companies in the U.S. as well as American auto companies and the UAW. We would like to express our sincere appreciation for their assistance.

The PHD: A Planar, Harmonic Drive Robot for Joint Torque Control

This thesis details the development of a model of a seven degree of freedom manipulator for position control. Then, it goes on to discuss the design and construction of a the PHD, a robot built to serve two purposes: first, to perform research on joint torque control schemes, and second, to determine the important dynamic characteristics of the Harmonic Drive. The PHD, is a planar, three degree of freedom arm with torque sensors integral to each joint. Preliminary testing has shown that a simple linear spring model of the Harmonic Drive's flexibility is suitable in many situations.