A study on the robotic gripper with variable friction control using electro-adhesive film
- Title
- A study on the robotic gripper with variable friction control using electro-adhesive film
- Author(s)
- Younghun Su
- DGIST Authors
- Younghun Su ; Dongwon Yun ; Minho Hwang
- Advisor
- 윤동원
- Co-Advisor(s)
- Minho Hwang
- Issued Date
- 2023
- Awarded Date
- 2023-02-01
- Type
- Thesis
- Description
- Electro-adhesion, rigid gripper, power efficiency, grasp stability
- Table Of Contents
-
Ⅰ. Introduction 1
Ⅱ. Electro-adhesion film
2.1 Principle and structure of electro-adhesion film 7
2.2 Simulation of electro-adhesion force 12
2.3 Measurement of electro-adhesion force 14
2.3.1 Measurement of adhesion force of each EA film 15
2.3.2 Measurement of adhesion force according to contact material 20
2.3.3 Measurement of adhesion force according to temperature 22
Ⅲ. Featrues of 2-Fingered Gripper
3.1 DH parameters 27
3.2 Kinematics of the 2-fingered gripper 28
3.3 Grasping force of the 2-fingered gripper 31
Ⅳ. Grasping objects with proposed system
4.1 Grasping box with various weight and measuring grasping force 32
4.2 Measurement of power consumption and efficiency 36
4.3 Slip detection and friction control 41
Ⅴ. Conclusion 51
Ⅵ. Discussion 54
- URI
-
http://hdl.handle.net/20.500.11750/45714
http://dgist.dcollection.net/common/orgView/200000657854
- Degree
- Master
- Publisher
- DGIST
- Related Researcher
-
-
Yun, Dongwon
- Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
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- Files in This Item:
-
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- Appears in Collections:
- Department of Robotics and Mechatronics Engineering Theses Master
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