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Design Principles for Manipulation with Astrictive Contact.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Design Principles for Manipulation with Astrictive Contact./
作者:	Ruotolo, Wilson.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	134 p.
附註:	Source: Dissertations Abstracts International, Volume: 83-05, Section: B.
Contained By:	Dissertations Abstracts International83-05B.
標題:	Kinematics. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28812861
ISBN:	9798494448286

Design Principles for Manipulation with Astrictive Contact.
Ruotolo, Wilson.

Design Principles for Manipulation with Astrictive Contact. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 134 p.

Source: Dissertations Abstracts International, Volume: 83-05, Section: B.

Thesis (Ph.D.)--Stanford University, 2021.

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

Robotics have been used for manufacturing and other large-scale industrial operations for decades, typically using parallel jaw grippers or custom end-effectors designed for a specific process. Long limited to the realms of high cost, high precision applications where repeatability is at a premium, advents in machine learning, computer vision, and other sensor modalities are enabling more dynamic roles in industrial settings. Agile manufacturing, in-home robotics, and specialized applications such as eldercare demand physical robot interactions that are capable of adapting to a wide range of geometries and scenarios. For this incipient task diversity and uncertainty, it no longer serves to specialize hardware for a given task as mechanical components cannot be easily reprogrammed for new challenges, and parallel jaw grippers often lack the gentleness to effectively manipulate objects without problematically high normal forces.Human beings have evolved a highly sophisticated, sensorized, and mobile solution to these challenges. Our hands are some of the most complex components of our body and are also one of the physical components that most clearly separates us from the rest of the animal kingdom. Humans perform an enormous range of different manipulations with our end-effectors and, perhaps even more remarkably, can adapt this hardware to new tasks with ease. We also use our hands for non-manipulation goals such as thermoregulation, communication, and exploration as well as to create new tools for even more specialized tasks when needed. With such a wide range of functions, these components are not perfectly optimized for any one challenge, but it is this very flexibility that makes them such an excellent starting point for bioinspired design.As such, researchers and engineers have sought to emulate this performance with robotic hands for many years, and some impressive prototypes have existed in research circles for over thirty years. Despite these efforts, simple, parallel grippers continue to be the norm in manufacturing and real-world applications because they deliver strong grips in a light and compact package. Manyjointed hands have significant kinematic advantages over their less mobile counterparts but must also deliver robust strength without sacrificing that dexterity if they are to be adopted in more practical settings. That necessary strength is inherently difficult to achieve due to the joint torque ratios needed in fingers with slender aspect ratios that are useful for manipulating effectively in cluttered environments.Astrictive contact conditions, achieved through suction, gecko-inspired adhesives, and microspines, can help overcome this limitation and improve grasp quality without decreasing mobility or increasing actuation effort. However, they demand a novel set of design considerations to do so. Rather than normal forces and point contacts, the principles of high contact area, shear load sharing, and even normal stress distribution determine the limits of manipulation capacity. These three conditions are explored theoretically and implemented practically on four robotic manipulators. Together, these prototypes form a framework for manipulation with astrictive contact through a combination of passive mechanical structures, practical controls, and novel actuation schemes.

ISBN: 9798494448286Subjects--Topical Terms:

571109
Kinematics.

Design Principles for Manipulation with Astrictive Contact.
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