Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.advisor | 윤동원 | - |
| dc.contributor.author | Khulan Batsuren | - |
| dc.date.accessioned | 2019-08-22T16:00:31Z | - |
| dc.date.available | 2019-08-22T16:00:31Z | - |
| dc.date.issued | 2019 | - |
| dc.identifier.uri | http://dgist.dcollection.net/common/orgView/200000218559 | en_US |
| dc.identifier.uri | http://hdl.handle.net/20.500.11750/10456 | - |
| dc.description | Soft robotics gripper, Finite element model, Real-time feedback control | - |
| dc.description.statementofresponsibility | prohibition | - |
| dc.description.tableofcontents | 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 |
- |
| dc.format.extent | 57 | - |
| dc.language | eng | - |
| dc.publisher | DGIST | - |
| dc.source | /home/dspace/dspace53/upload/200000218559.pdf | - |
| dc.title | A Study on Soft Robotic Gripper with Pneumatic Fingers for In-hand Manipulation | - |
| dc.type | Thesis | - |
| dc.identifier.doi | 10.22677/thesis.200000218559 | - |
| dc.description.degree | Master | - |
| dc.contributor.department | Department of Robotics Engineering | - |
| dc.contributor.coadvisor | Taehun Kang | - |
| dc.date.awarded | 2019-08 | - |
| dc.publisher.location | Daegu | - |
| dc.description.database | dCollection | - |
| dc.citation | XT.RM 쿨29 201908 | - |
| dc.date.accepted | 2019-07-01 | - |
| dc.contributor.alternativeDepartment | 로봇공학전공 | - |
| dc.embargo.liftdate | 2024-07-04 | - |
| dc.contributor.affiliatedAuthor | Kang, Taehun | - |
| dc.contributor.affiliatedAuthor | Batsuren, Khulan | - |
| dc.contributor.affiliatedAuthor | Yun, Dongwon | - |
| dc.contributor.alternativeName | 쿨란 밧수렌 | - |
| dc.contributor.alternativeName | 강태훈 | - |
| dc.contributor.alternativeName | Dongwon Yun | - |
- Files in This Item:
-
There are no files associated with this item.
- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
Items in Repository are protected by copyright, with all rights reserved, unless otherwise indicated.