Given a desired function for an effector, what is its appropriate shape? This thesis addresses the problem of designing the shape of a rigid end effector to perform a given manipulation task. It presents three main contributions: First, it describes the contact kinematics of an effector as the product of both its shape and its motion, and assumes a fixed motion model to explore the role of shape in satisfying a certain manipulation task. Second, it formulates that manipulation task as a set of constraints on the geometry of contact between the effector and the world. Third, it develops tools to transform those contact constraints into an effector shape for general 1-DOF planar mechanisms and general 1-DOF spatial mechanisms, and discusses the generalization to mechanisms with more than one degree of freedom.
We describe the case studies of designing grippers with invariant grasp geometry, grippers with improved grasp stability, and grippers with extended grasp versatility. We further showcase the techniques with the design of the fingers of the MLab hand, a three-fingered gripper actuated with a single motor, capable of exerting any combination of geometrically correct enveloping or fingertip grasps of spherical, cylindrical, and prismatic objects of varying size.
|Advisor:||Mason, Matthew T.|
|Commitee:||Choset, Howie, Kumar, Vijay, Srinivasa, Siddhartha|
|School:||Carnegie Mellon University|
|School Location:||United States -- Pennsylvania|
|Source:||DAI-B 75/02(E), Dissertation Abstracts International|
|Subjects:||Mechanical engineering, Robotics|
|Keywords:||Effector function, Grippers, Rigid end effectors, Robotic manipulation|
Copyright in each Dissertation and Thesis is retained by the author. All Rights Reserved
The supplemental file or files you are about to download were provided to ProQuest by the author as part of a
dissertation or thesis. The supplemental files are provided "AS IS" without warranty. ProQuest is not responsible for the
content, format or impact on the supplemental file(s) on our system. in some cases, the file type may be unknown or
may be a .exe file. We recommend caution as you open such files.
Copyright of the original materials contained in the supplemental file is retained by the author and your access to the
supplemental files is subject to the ProQuest Terms and Conditions of use.
Depending on the size of the file(s) you are downloading, the system may take some time to download them. Please be