Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 87 for “"Gripper"”.
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Morphological design methodology of rugged underactuated gripper
The purpose of this research is to extend the design tools for robust underactuated hand design. Disaster response robots operate in highly unstructured environments where they need to dynamically move and interface to successfully fulfill their task. Historically robotic hands have been optimized …
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Design and analysis of a soft spiral gripper
… of being innocuous to humans. Soft robotic grippers are one of the major application of soft robots as they have the ability to conform and adapt their structure to the object to be grasped. This work presents a bio-inspired technique to increase contact area while grasping and handling long …
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Autonomous object model acquisition with parallel jaw gripper
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2025-05-01
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Deformable Object Manipulation with a Tactile Reactive Gripper
Manipulating deformable objects remains a fundamental challenge in robotics, as techniques developed for rigid objects often fail to generalize. Deformable objects exhibit infinite-dimensional configuration spaces, frequent self-occlusion, and high model uncertainty, making global state estimation …
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Deformable Object Manipulation with a Tactile Reactive Gripper
Deformable objects like cloth and cables are challenging for robots to manipulate due to their high-dimensionality and unpredictable dynamics. In previous work, Yu et. al (2019) [45] used a tactile sensor to estimate the pose of a cable within the grip while sliding along it. The authors used …
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Robot gripper control system using PVDF piezoelectric sensors
A novel robot gripper control system is presented which uses PVDF piezoelectric sensors to actively damp exerted force. By using a low-input-resistance amplifier to sense the current developed by the PVDF sensor, an output proportional to the rate of change of the force exerted by the gripper is …
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Design and Manufacturing of a Lead Screw Robotic Gripper
Robotic grippers have many amazing uses. From helping to rescue trapped animals underwater to holding surgical tools in precise locations during an operation, robotic grippers have proved to be useful for many functions that are tedious, dangerous and difficult for the human hand to perform. The …
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Surface hardness classification via unmanned aerial vehicles gripper finger deflection
… attached to a Unmanned Aerial Vehicle (UAV) gripper to determine, upon impact, the hardness of a landing site. We design and fabricate a four finger gripper that uses a rotary component to convert the rotational motion of a servo to the linear motion of the finger assemblies. We functionally …
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Shape memory polymer adhesive gripper for pick-and-place applications
… explores the use of SMPs to design an adhesive gripper which pick and place target solid objects relying on reversible dry adhesion of SMP. Compared with common finger or soft grippers, the SMP adhesive gripper interacts with a single surface of a target object for pick-and-place. Furthermore, …
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A high-deformation electric soft robotic gripper via handed shearing auxetics
… in an electrically driven soft robotic gripper which is significantly smaller, more energy efficient and more puncture resistant than existing pneumatic soft robotic grippers.
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Development of a robotic torque application gripper for automated furniture assembly
This thesis describes the redesign of a robotic claw end-effector originally built for the MIT class 6.142. The claw was designed in order to assist an autonomous furniture assembly robotic project by spinning . The project used KUKA youbots in order to assemble IKEA Lak tables. The first …
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A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper
In this work, an underactuated robot gripper was designed to meet specifications for strength, cost, and ease of manufacturing with Open-Source distribution in mind. The specifications emerged from a need for inexpensive grippers that can be used on robots that help people brace and balance. The …
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Design and Evaluation of an Underactuated Robotic Gripper for Manipulation Associated with Disaster Response
… and validation of an underactuated robotic gripper built for the Tactical Hazardous Operations Robot (THOR). THOR is a humanoid robot designed for use in the DARPA Robotics Challenge (DRC) and the Shipboard Autonomous Fire Fighting Robot (SAFFiR) project, both of which pertain to completing …
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Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots
… modular elements, a novel reconfigurable gripper, and a team of mobile robots.
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Bistable prestressed spring steel grippers for aerial perching and grasping
… compliant mechanisms is limited to heavy, rigid grippers with limited applications in a wide variety of environments and grippers with complicated pneumatic controls. In this thesis, we propose a novel solution to this gap in research through the use of prestressed spring steel bands (PSSB) to …
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Design of Robots for Unstructured Environments - A Customisable Agile Quadruped, a Sensorised High-Force Gripper, and an Intelligent Drilling End-Effector
… a robust, modular, high-force-capable 1-DoF gripper that enables high-payload operations with everyday objects in unstructured contexts. DAGANA features a multimodal sensing system that mitigates sensor occlusion during grasping, and its modular design allows extension of its dexterity and …
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An industrial palletizing system for industrial robots
… (IBM Manufacturing System 7545), an IBM PC, a gripper carousel storage system, a quick-change mechanism, and a robot gripper. The system is set up to enable a minimum of operator intervention. Hardware aspects (quick-change mechanism and gripper storage) as well as dynamic software generation …
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Improving Vision-Based Robotic Grasping for Enhanced Comprehensibility
… grasping is to determine the parameters of a gripper, including its position, orientation, and opening width, in order to maximize the probability of successfully grasping an object. However, we identified three issues with the current approaches: they neglect the gripper-object dynamics, lack …
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