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The Quantification and Redesign of a Granular Jamming Gripper with Internal Printed Hydraulics.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	The Quantification and Redesign of a Granular Jamming Gripper with Internal Printed Hydraulics./
作者:	Rock, Michael.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2022,
面頁冊數:	63 p.
附註:	Source: Masters Abstracts International, Volume: 83-11.
Contained By:	Masters Abstracts International83-11.
標題:	Ocean engineering. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29164569
ISBN:	9798438787099

The Quantification and Redesign of a Granular Jamming Gripper with Internal Printed Hydraulics.
Rock, Michael.

The Quantification and Redesign of a Granular Jamming Gripper with Internal Printed Hydraulics. - Ann Arbor : ProQuest Dissertations & Theses, 2022 - 63 p.

Source: Masters Abstracts International, Volume: 83-11.

Thesis (M.S.)--University of Rhode Island, 2022.

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

This project aimed to advance the deployment opportunities of soft grippers by providing a technique to quantitatively evaluate the loading distribution of a manipulator. In an underwater environment, soft grippers show great promise as they provide a means of delicate manipulation that has been claimed to largely surpasses the capabilities of traditional rigid grippers. The inherent compliance of soft grippers passively eliminates accidental shock and point loading; however, this compliant mechanic also complicates the quantitative assessment of measuring and mapping the loading exerted by a soft gripper. Knowing the loading distribution of a soft gripper would provide a numerical means to justify the claim of capability superiority over a traditional mechanical gripper. This project successfully proved that a pressure-sensitive film could capture the maximum load distribution of a fluid elastomer actuator aided granular jamming gripper in an underwater environment. Analysis of the distribution loading shows that this gripper exerted a maximum pressure loading which saturated the ultra extreme low film (>50.3 kPa) in small regions where granular point loading was observed, while SPI's Topaq Analysis reported the average pressure to be 29.13 kPa. This jamming gripper was designed to be field-interchangeable with the Blue Robotics Newton Gripper which shows average pressure loadings up to three times greater than the jamming gripper.

ISBN: 9798438787099Subjects--Topical Terms:

660731
Ocean engineering.
Subjects--Index Terms:

Forcing

The Quantification and Redesign of a Granular Jamming Gripper with Internal Printed Hydraulics.
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245 1 4 $a The Quantification and Redesign of a Granular Jamming Gripper with Internal Printed Hydraulics.
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300 $a 63 p.
500 $a Source: Masters Abstracts International, Volume: 83-11.
500 $a Advisor: Licht, Stephen.
502 $a Thesis (M.S.)--University of Rhode Island, 2022.
506 $a This item must not be sold to any third party vendors.
520 $a This project aimed to advance the deployment opportunities of soft grippers by providing a technique to quantitatively evaluate the loading distribution of a manipulator. In an underwater environment, soft grippers show great promise as they provide a means of delicate manipulation that has been claimed to largely surpasses the capabilities of traditional rigid grippers. The inherent compliance of soft grippers passively eliminates accidental shock and point loading; however, this compliant mechanic also complicates the quantitative assessment of measuring and mapping the loading exerted by a soft gripper. Knowing the loading distribution of a soft gripper would provide a numerical means to justify the claim of capability superiority over a traditional mechanical gripper. This project successfully proved that a pressure-sensitive film could capture the maximum load distribution of a fluid elastomer actuator aided granular jamming gripper in an underwater environment. Analysis of the distribution loading shows that this gripper exerted a maximum pressure loading which saturated the ultra extreme low film (>50.3 kPa) in small regions where granular point loading was observed, while SPI's Topaq Analysis reported the average pressure to be 29.13 kPa. This jamming gripper was designed to be field-interchangeable with the Blue Robotics Newton Gripper which shows average pressure loadings up to three times greater than the jamming gripper.
590 $a School code: 0186.
650 4 $a Ocean engineering. $3 660731
650 4 $a Robotics. $3 519753
653 $a Forcing
653 $a Soft grippers
653 $a Loading
653 $a Quantify
690 $a 0547
690 $a 0771
710 2 $a University of Rhode Island. $b Ocean Engineering. $3 3175737
773 0 $t Masters Abstracts International $g 83-11.
790 $a 0186
791 $a M.S.
792 $a 2022
793 $a English
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