Dissertation/Thesis Abstract

Surface classification via unmanned aerial vehicles gripper finger deflection
by Van Hoosear, Christopher A., M.S.Eng., University of the Pacific, 2013, 88; 1548752
Abstract (Summary)

The purpose of this thesis is to ascertain the feasibility of using strain gauges attached to a Unmanned Aerial Vehicle (UAV) gripper to determine, upon impact, the hardness of a landing site. We design and fabricate a four finger gripper that uses a rotary component to convert the rotational motion of a servo to the linear motion of the finger assemblies. We functionally test a gripper prototype made from rapid-prototype material. We conduct three experiments to test the gripper's functionality. The first experiment tests the gripper's ability to grasp, lift, and release a centered payload, and the gripper performed with overall success rates of 91%, 100%, and 87% respectively. The second experiment tests the gripper's ability to self-align, lift and release the payload and the gripper performed with overall success rates of 99%, 100%, and 96% respectively. The third experiment tests the functional durability of the gripper, and it performed without error for 5000 open/close cycles.

Indexing (document details)
Advisor: Basha, Elizabeth
Commitee: Lee, Chi-Wook, Ross, Jennifer
School: University of the Pacific
Department: Engineering
School Location: United States -- California
Source: MAI 52/04M(E), Masters Abstracts International
Subjects: Aerospace engineering, Electrical engineering, Robotics
Publication Number: 1548752
ISBN: 978-1-303-59140-2
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