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Scalability study for robotic hand p...

Monahan, Melissa A.

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Scalability study for robotic hand platform.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Scalability study for robotic hand platform./
作者:	Monahan, Melissa A.
面頁冊數:	98 p.
附註:	Source: Masters Abstracts International, Volume: 48-05, page: 3159.
Contained By:	Masters Abstracts International48-05.
標題:	Engineering, Biomedical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1476380
ISBN:	9781109778113

Scalability study for robotic hand platform.
Monahan, Melissa A.

Scalability study for robotic hand platform. - 98 p.

Source: Masters Abstracts International, Volume: 48-05, page: 3159.

Thesis (M.S.)--Rochester Institute of Technology, 2010.

The goal of this thesis project was to determine the lower limit of scale for the RIT robotic grasping hand. This was accomplished using a combination of computer simulation and experimental studies. A force analysis was conducted to determine the size of air muscles required to achieve appropriate contact forces at a smaller scale. Input variables, such as the actuation force and tendon return force, were determined experimentally. A dynamic computer model of the hand system was then created using Recurdyn. This was used to predict the contact (grasping) force of the fingers at full-scale, half-scale, and quarter-scale. Correlation between the computer model and physical testing was achieved for both a life-size and half-scale finger assembly. To further demonstrate the scalability of the hand design, both half and quarter-scale robotic hand rapid prototype assemblies were built using 3D printing techniques. This thesis work identified the point where further miniaturization would require a change in the manufacturing process to micro-fabrication.

ISBN: 9781109778113Subjects--Topical Terms:

1017684
Engineering, Biomedical.

Scalability study for robotic hand platform.
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245 1 0 $a Scalability study for robotic hand platform.
300 $a 98 p.
500 $a Source: Masters Abstracts International, Volume: 48-05, page: 3159.
500 $a Adviser: Kathleen Lamkin-Kennard.
502 $a Thesis (M.S.)--Rochester Institute of Technology, 2010.
520 $a The goal of this thesis project was to determine the lower limit of scale for the RIT robotic grasping hand. This was accomplished using a combination of computer simulation and experimental studies. A force analysis was conducted to determine the size of air muscles required to achieve appropriate contact forces at a smaller scale. Input variables, such as the actuation force and tendon return force, were determined experimentally. A dynamic computer model of the hand system was then created using Recurdyn. This was used to predict the contact (grasping) force of the fingers at full-scale, half-scale, and quarter-scale. Correlation between the computer model and physical testing was achieved for both a life-size and half-scale finger assembly. To further demonstrate the scalability of the hand design, both half and quarter-scale robotic hand rapid prototype assemblies were built using 3D printing techniques. This thesis work identified the point where further miniaturization would require a change in the manufacturing process to micro-fabrication.
520 $a Several techniques were compared as potential methods for making a production intent quarter-scale robotic hand. Investment casting, Swiss machining, and Selective Laser Sintering were the manufacturing techniques considered. A quarter-scale robotic hand tested the limits of each technology. Below this scale, micro-machining would be required. The break point for the current actuation method, air muscles, was also explored. Below the quarter-scale, an alternative actuation method would also be required. Electroactive Polymers were discussed as an option for the micro-scale.
520 $a In summary, a dynamic model of the RIT robotic grasping hand was created and validated as scalable at full and half-scales. The model was then used to predict finger contact forces at the quarter-scale. The quarter-scale was identified as the break point in terms of the current RIT robotic grasping hand based on both manufacturing and actuation. A novel, prototype quarter-scale robotic hand assembly was successfully built by an additive manufacturing process, a high resolution 3D printer. However, further miniaturization would require alternate manufacturing techniques and actuation mechanisms.
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650 4 $a Engineering, Robotics. $3 1018454
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710 2 $a Rochester Institute of Technology. $b Mechanical Engineering. $3 1282349
773 0 $t Masters Abstracts International $g 48-05.
790 1 0 $a Lamkin-Kennard, Kathleen, $e advisor
790 1 0 $a Walter, Wayne W. $e committee member
790 1 0 $a Das, Tuhin K. $e committee member
790 1 0 $a Nye, Alan H. $e committee member
790 1 0 $a Burton, William A. $e committee member
790 $a 0465
791 $a M.S.
792 $a 2010
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