Design and evaluation of variable-stiffness robotic grippers
Metadades
Mostra el registre complet de l'elementcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/29747
comunitat-uji-handle3:10234/162753
comunitat-uji-handle4:
TESISMetadades
Títol
Design and evaluation of variable-stiffness robotic grippersAutoria
Director/a
Pascual del Pobil Ferré, ÁngelPrograma de Doctorat
Programa de Doctorat en InformàticaÒrgan responsable
Universitat Jaume I. Escola de DoctoratData de defensa
2022-03-16Descripció
Doctorat internacional
Editor
Universitat Jaume IÀrea de coneixement
Pàgines
215 p.;Resum
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. [-]
Drets d'accés
L'accés als continguts d'aquesta tesi queda condicionat a l'acceptació de les condicions d'ús establertes per la següent llicència Creative Commons: http://creativecommons.org/licenses/by-sa/4.0/
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess