Date of Award

Fall 2009

Document Type


Degree Name

Master of Science (MS)


Mechanical Engineering

First Advisor

Voglewede, Philip A.

Second Advisor

Schimmels, Joseph

Third Advisor

Weber, Robert


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.