Title
Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping
Date of Award
2009
Document Type
Open Access
Degree Name
Master of Science (MS)
Department
Mechanical Engineering
First Advisor
Philip A. Voglewede
Second Advisor
Joseph Schimmels
Third Advisor
Robert Weber
Abstract
The goal of this thesis is to move a step towards the solution of the bin picking problem. A novel metamorphic end effector is proposed, tested for proof of concept and analyzed using standard techniques of degrees of freedom and graph theory as well as a classical dynamic analysis. Once proof of concept was achieved, the results from the analysis were formed into an optimization program with the hope of finding a more stable, predictable mechanism.
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