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Design and Analysis of a Kirigami-Ba...

Mondal, Sayan.

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Design and Analysis of a Kirigami-Based Two-Finger Microgripper.

Record Type:	Electronic resources : Monograph/item
Title/Author:	Design and Analysis of a Kirigami-Based Two-Finger Microgripper./
Author:	Mondal, Sayan.
Published:	Ann Arbor : ProQuest Dissertations & Theses, : 2020,
Description:	72 p.
Notes:	Source: Masters Abstracts International, Volume: 82-02.
Contained By:	Masters Abstracts International82-02.
Subject:	Mechanical engineering. -
Online resource:	https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28000339
ISBN:	9798662450141

Design and Analysis of a Kirigami-Based Two-Finger Microgripper.
Mondal, Sayan.

Design and Analysis of a Kirigami-Based Two-Finger Microgripper. - Ann Arbor : ProQuest Dissertations & Theses, 2020 - 72 p.

Source: Masters Abstracts International, Volume: 82-02.

Thesis (M.S.)--University of California, San Diego, 2020.

This item must not be sold to any third party vendors.

This masters thesis describes a novel underactuated robotic microgripper with two fingers.The design specifications, a thorough kinematic description of the gripper, and its static analysis are presented. The novelty of this gripper lies in the simplicity of its mechanism that can accomplish the task of picking up the target objects. What makes it unique is its ability to grasp objects that are either in the same plane as that of the gripper or are at a lower level. The gripper is equipped to be actuated by a single actuator. For preliminary evaluation of the gripper's object manipulation capabilities, standard hexagonal nuts with varying weights, and sizes were selected.The success of grasping the nuts by the gripper at two different orientations were observed and studied. In this paper only one of the test cases has been shown in detail. In addition to that, a kirigami spring has been incorporated in the modified design of the gripper in order to enhance its grasping capabilities.

ISBN: 9798662450141Subjects--Topical Terms:

649730
Mechanical engineering.
Subjects--Index Terms:

Design

Design and Analysis of a Kirigami-Based Two-Finger Microgripper.
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020 $a 9798662450141
035 $a (MiAaPQ)AAI28000339
035 $a AAI28000339
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100 1 $a Mondal, Sayan. $3 3559826
245 1 0 $a Design and Analysis of a Kirigami-Based Two-Finger Microgripper.
260 1 $a Ann Arbor : $b ProQuest Dissertations & Theses, $c 2020
300 $a 72 p.
500 $a Source: Masters Abstracts International, Volume: 82-02.
500 $a Advisor: Gravish, Nicholas G.
502 $a Thesis (M.S.)--University of California, San Diego, 2020.
506 $a This item must not be sold to any third party vendors.
520 $a This masters thesis describes a novel underactuated robotic microgripper with two fingers.The design specifications, a thorough kinematic description of the gripper, and its static analysis are presented. The novelty of this gripper lies in the simplicity of its mechanism that can accomplish the task of picking up the target objects. What makes it unique is its ability to grasp objects that are either in the same plane as that of the gripper or are at a lower level. The gripper is equipped to be actuated by a single actuator. For preliminary evaluation of the gripper's object manipulation capabilities, standard hexagonal nuts with varying weights, and sizes were selected.The success of grasping the nuts by the gripper at two different orientations were observed and studied. In this paper only one of the test cases has been shown in detail. In addition to that, a kirigami spring has been incorporated in the modified design of the gripper in order to enhance its grasping capabilities.
590 $a School code: 0033.
650 4 $a Mechanical engineering. $3 649730
650 4 $a Design. $3 518875
650 4 $a Mechanics. $3 525881
650 4 $a Robotics. $3 519753
653 $a Design
653 $a Grasping
653 $a Gripper
653 $a Kirigami
653 $a Microgripper
653 $a Microrobotics
690 $a 0548
690 $a 0389
690 $a 0346
690 $a 0771
710 2 $a University of California, San Diego. $b Mechanical and Aerospace Engineering. $3 2096513
773 0 $t Masters Abstracts International $g 82-02.
790 $a 0033
791 $a M.S.
792 $a 2020
793 $a English
856 4 0 $u https://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28000339