Title

A study on the robotic gripper with variable friction control using electro-adhesive film

DGIST Authors

Younghun Su ; Dongwon Yun ; Minho Hwang

Advisor

윤동원

Co-Advisor(s)

Minho Hwang

Issued Date

2023

Awarded Date

2023-02-01

Citation

Younghun Su. (2023). A study on the robotic gripper with variable friction control using electro-adhesive film. doi: 10.22677/THESIS.200000657854

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

DOI

10.22677/THESIS.200000657854

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

Show Full Item Record