Cited 0 time in webofscience Cited 0 time in scopus

A Study on Soft Robotic Gripper with Pneumatic Fingers for In-hand Manipulation

Title
A Study on Soft Robotic Gripper with Pneumatic Fingers for In-hand Manipulation
Authors
Khulan Batsuren
DGIST Authors
Khulan Batsuren
Advisor(s)
윤동원
Co-Advisor(s)
Taehun Kang
Issue Date
2019
Available Date
2019-08-23
Degree Date
2019-08-01
Type
Thesis
Description
Soft robotics gripper, Finite element model, Real-time feedback control
Table Of Contents
Ⅰ. INTRODUCTION 1.1 Background 1 1.2 Literature review on Soft Robotics Gripper 2 1.3 Problem statements and objectives 4 1.3.1 Multiple chambers in pneumatic actuator 5 1.3.2 Sensing and control 6 1.4 Thesis overview 6 ⅠI. METHODOLOGY 2.1 Analysis of the actuator 8 2.2 Design of pneumatic actuated gripper and finger 13 2.2.1 Finger design 13 2.2.2 Fabrication 14 2.2.3 Gripper design 16 2.3 Control methodology 16 2.3.1 Control board 17 2.3.2 Data driven bending/azimuth angle control 19 ⅠII. EXPERIMENT & RESULT 3.1 Experiment on a single actuator 21 3.2 Curve fitting 25 3.2.1 Curve fitting of bending angle 25 3.2.2 Curve fitting of azimuth angle 27 3.3 PID controller tuning 29 3.3.1 PID controller tuning for bending angle control 29 3.3.2 PID controller tuning for azimuth angle control 30 3.4 Angle control 32 3.4.1 Bending angle control 32 3.4.2 Azimuth angle control 33 3.5 Experiment on gripper 34 3.5.1 Grasping force measurement 35 3.5.2 Experimental setup for grasping and twisting 36 3.5.3 Experiment on grasping 37 3.5.4 Experiment on twisting 39 Discussion 42 Conclusion 44 References 45 Korean Summary 47
URI
http://dgist.dcollection.net/common/orgView/200000218559
http://hdl.handle.net/20.500.11750/10456
DOI
10.22677/thesis.200000218559
Degree
Master
Department
Robotics Engineering
University
DGIST
Files:
There are no files associated with this item.
Collection:
Department of Robotics EngineeringETCETC


qrcode mendeley

Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.

BROWSE