MIE’s Georges Chebly Wins a “Finish Strong Honors Thesis Award” from Commonwealth Honors College
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Senior Georges Chebly of the Mechanical and Industrial Engineering (MIE) Department and the Commonwealth Honors College (CHC) has received one of the initial CHC Finish Strong Honors Thesis Awards (FSHTAs). Chebly’s winning honors thesis on robotics “explores novel design techniques that move beyond traditional motor-joint-link configurations,” as he explains. Chebly is working on boosting the efficiency, safety, and adaptability of a robotic arm so that it can operate more effectively in dynamic, human-centered settings. He does his research in the Dynamic and Autonomous Robotic Systems Lab - UMass Amherst.
The CHC bestows one of the FSHTAs to an undergrad from each school or college on campus, and each award includes a stipend of $2,500. According to the CHC website, the one-time $2,500 stipend for the FSHTA will help with any costs that an awardee might incur while completing his or her thesis. As the CHC website tells student applicants, “This flexible funding can be used for research materials, personal expenses, or anything else that helps you get over the finish line.”
As Chebly explains the backstory of the sophisticated robotics research described in his honors-thesis abstract, “Since the term ‘robot’ was first introduced in 1920, robotics has undergone a remarkable transformation, driven by advancements in engineering. While industrial robots excel in precision and efficiency, their rigid and heavy structures limit their adaptability, making them unsuitable for dynamic or human-centric environments.”
In response to these issues, Chebly is designing and testing back-drivable, cable-driven mechanisms, which could potentially be used in humanoid robots such as the LIMS robot at the IRIM Lab, KoreaTech. As he says, “Humanoid robots, by mimicking human movements, offer a promising alternative with greater dexterity, adaptability, and improved human-robot interaction.”
In that context, Chebly’s honors research is developing pioneering design techniques that transcend the traditional motor-joint-link configurations. “Specifically,” he says in his thesis abstract, “I am developing an affordable six-degree-of-freedom robotic arm that utilizes cost-effective motors, such as NEMA 17 and NEMA 23, while leveraging mechanical advantages through belts and cable-driven systems like the capstan mechanism.”
Chebly says that his approach offers the considerable advantage of employing weaker, less-expensive motors while maintaining the preferred payload capacity. “A key innovation in my design,” he says, “is an 8:1 capstan drive for the first joint, which amplifies the NEMA 17 motor’s torque eightfold while maintaining zero backlash for high precision.”
Chebly adds that, in his design, “Another capstan mechanism incorporates a fixed pulley and movable drum, achieving a reduction ratio of (D/d + 1). Although engineers often avoid cables due to their complex implementation, my research focuses on refining belt-based capstan designs to overcome these challenges.”
As Chebly concludes, “By positioning motors close to the shoulder, reducing inertia, and enhancing back-drivability, this robotic arm aims to improve efficiency, safety, and adaptability in human-centric environments.”
Chebly is currently working towards his B.S. degree in mechanical engineering with a minor in computer science. As he explains, “I have a passion for robotics, coding, and 3D designs. So, I intend to pursue a career in mechatronics/robotics.” (February 2025)