{"id":{"repo_id":"uiuc","oai_identifier":"oai:www.ideals.illinois.edu:2142/95613"},"canonical_url":"https://search.dev.ndltd.org/etd/uiuc/oai:www.ideals.illinois.edu:2142/95613","repository":{"repo_id":"uiuc","name":"University of Illinois - Urbana-Champaign","base_url":"https://www.ideals.illinois.edu/oai-pmh"},"display":{"title":"Design and analysis of a soft spiral gripper","abstract":"Continuum robots have been gaining popularity in recent years for their umpteen advantages. Soft robots are a class of continuum robots which are made of squishy materials which have the added benefit 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 slender objects by helically twisting around them. An embodiment of such a spiral gripper utilizes unique configurations of pneumatically actuated Fiber Reinforced Elastomeric Enclosures which has a range of motions like extension, rotation, contraction. This work presents a detailed analysis technique using Cosserat beam theory to estimate the normal contact force exerted by the spiral gripper on cylindrical objects.","abstract_html":"Continuum robots have been gaining popularity in recent years for their umpteen advantages. Soft robots are a class of continuum robots which are made of squishy materials which have the added benefit 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 slender objects by helically twisting around them. An embodiment of such a spiral gripper utilizes unique configurations of pneumatically actuated Fiber Reinforced Elastomeric Enclosures which has a range of motions like extension, rotation, contraction. This work presents a detailed analysis technique using Cosserat beam theory to estimate the normal contact force exerted by the spiral gripper on cylindrical objects.","abstract_has_math":false,"creators":["Uppalapati, Naveen Kumar"],"institution":"University of Illinois at Urbana-Champaign","degree_name":"M.S.","degree_level":"Thesis","degree_discipline":"Systems & Entrepreneurial Engr","degree_department":null,"school":null,"contributors":["Krishnan, Girish"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2017,"date_issued":"2017-03-01T17:02:04Z","date_published":"2017-03-01T17:02:04Z","updated_at":"2026-07-22T22:26:37Z","subjects":["Soft robots","Soft Grippers","Cosserat beams","Bio-inspired Robots"],"languages":["en"],"rights":["Copyright 2016 Naveen Kumar Uppalapati"],"rights_urls":[],"identifier_entries":[]},"links":{"outbound_url":"http://hdl.handle.net/2142/95613","outbound_label":"Handle","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Krishnan, Girish"]},{"key":"dc:creator","label":"Author","values":["Uppalapati, Naveen Kumar"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date","label":"Dc Date","values":["2017-03-01T17:02:04Z","2019-03-02T10:15:27Z","2016-12-06","2016-12"]},{"key":"dc:type","label":"Dc Type","values":["text"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Systems & Entrepreneurial Engr"]},{"key":"thesis:degree_level","label":"Degree Level","values":["Thesis"]},{"key":"thesis:degree_name","label":"Degree Name","values":["M.S."]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["University of Illinois at Urbana-Champaign"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Soft robots","Soft Grippers","Cosserat beams","Bio-inspired Robots"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:language","label":"Dc Language","values":["en"]},{"key":"dc:rights","label":"Dc Rights","values":["Copyright 2016 Naveen Kumar Uppalapati"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["http://hdl.handle.net/2142/95613"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description","label":"Description","values":["Continuum robots have been gaining popularity in recent years for their umpteen advantages. Soft robots are a class of continuum robots which are made of squishy materials which have the added benefit 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 slender objects by helically twisting around them. An embodiment of such a spiral gripper utilizes unique configurations of pneumatically actuated Fiber Reinforced Elastomeric Enclosures which has a range of motions like extension, rotation, contraction. This work presents a detailed analysis technique using Cosserat beam theory to estimate the normal contact force exerted by the spiral gripper on cylindrical objects.","Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2018-12-01","The student, Naveen Kumar Uppalapati, accepted the attached license on 2016-12-06 at 09:16.","The student, Naveen Kumar Uppalapati, submitted this Thesis for approval on 2016-12-06 at 09:27.","This Thesis was approved for publication on 2016-12-06 at 14:34.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10442 on 2017-02-28 at 14:43:14","Made available in DSpace on 2017-03-01T17:02:04Z (GMT). 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Soft robots are a class of continuum robots which are made of squishy materials which have the added benefit 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 slender objects by helically twisting around them. An embodiment of such a spiral gripper utilizes unique configurations of pneumatically actuated Fiber Reinforced Elastomeric Enclosures which has a range of motions like extension, rotation, contraction. This work presents a detailed analysis technique using Cosserat beam theory to estimate the normal contact force exerted by the spiral gripper on cylindrical objects.","Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2018-12-01","The student, Naveen Kumar Uppalapati, accepted the attached license on 2016-12-06 at 09:16.","The student, Naveen Kumar Uppalapati, submitted this Thesis for approval on 2016-12-06 at 09:27.","This Thesis was approved for publication on 2016-12-06 at 14:34.","DSpace SAF Submission Ingestion Package generated from Vireo submission #10442 on 2017-02-28 at 14:43:14","Made available in DSpace on 2017-03-01T17:02:04Z (GMT). No. of bitstreams: 2 UPPALAPATI-THESIS-2016.pdf: 3166451 bytes, checksum: 27f1b0c4f550c76f9cb568d7a5cebed0 (MD5) LICENSE.txt: 4220 bytes, checksum: d3f01dc433fef114ba8091145c45a163 (MD5) Previous issue date: 2016-12-06","Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:02:22Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:03:32Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:05:02Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system","Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:06:55Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system","Limited Restriction Lifted for Item 98729 on 2019-03-02T10:15:27Z."],"dc:format":["application/pdf"],"dc:identifier":["http://hdl.handle.net/2142/95613"],"dc:language":["en"],"dc:rights":["Copyright 2016 Naveen Kumar Uppalapati"],"dc:subject":["Soft robots","Soft Grippers","Cosserat beams","Bio-inspired Robots"],"dc:title":["Design and analysis of a soft spiral gripper"],"dc:type":["text"],"thesis:degree_discipline":["Systems & Entrepreneurial Engr"],"thesis:degree_level":["Thesis"],"thesis:degree_name":["M.S."],"thesis:institution_name":["University of Illinois at Urbana-Champaign"]},"updated_at":"2026-07-22T22:26:37Z"}