Design and evaluation of variable-stiffness robotic grippers
Metadatos
Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/29747
comunitat-uji-handle3:10234/162753
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TESISMetadatos
Título
Design and evaluation of variable-stiffness robotic grippersAutoría
Director/a
Pascual del Pobil Ferré, ÁngelPrograma de Doctorado
Programa de Doctorat en InformàticaÓrgano responsable
Universitat Jaume I. Escola de DoctoratFecha de defensa
2022-03-16Descripción
Doctorat internacional
Editor
Universitat Jaume IÁrea de conocimiento
Páginas
215 p.;Resumen
In store warehouses, objects differ in terms of shape. During the automation process, reliable grasping is required, due to the variability of object shapes and positions. The main objective is to create and validate ... [+]
In store warehouses, objects differ in terms of shape. During the automation process, reliable grasping is required, due to the variability of object shapes and positions. The main objective is to create and validate a gripper design. It should be able to adapt to objects, grasping them. This grasping should be harmless. To develop a gripper, distinct models are created. To improve the capabilities, an iterative approach is used. An initial gripper is created. Upgrades and refinements are carried out. Two models are compared using benchmarks. The best model is selected. The main result of this thesis is the creation of a variable-stiffness gripper capable of changing its stiffness at will. It contains a variable-stiffness core. Performance is improved. The gripper is capable of grasping delicate objects. A Utility Model is published for the gripper design. This model permits the patenting of this research and the potential industrialisation. [-]
Derechos de acceso
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info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess