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Investigation of Under-Actuated Reconfigurable Structures Under Manipulation Environments.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Investigation of Under-Actuated Reconfigurable Structures Under Manipulation Environments./
作者:	Kan, Zicheng.
出版者:	Ann Arbor : ProQuest Dissertations & Theses, : 2021,
面頁冊數:	139 p.
附註:	Source: Dissertations Abstracts International, Volume: 83-11, Section: B.
Contained By:	Dissertations Abstracts International83-11B.
標題:	Load. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=29057161
ISBN:	9798426864962

Investigation of Under-Actuated Reconfigurable Structures Under Manipulation Environments.
Kan, Zicheng.

Investigation of Under-Actuated Reconfigurable Structures Under Manipulation Environments. - Ann Arbor : ProQuest Dissertations & Theses, 2021 - 139 p.

Source: Dissertations Abstracts International, Volume: 83-11, Section: B.

Thesis (Ph.D.)--Hong Kong University of Science and Technology (Hong Kong), 2021.

This item must not be sold to any third party vendors.

The past decade has witnessed tremendous progress in the field of robotics research, especially under manipulation environments. Compared to rigid-bodied robots, soft robots possess the characteristics of safety, adaptability, flexibility, and compatibility, benefitted from their inherent compliance. As a consequence, soft robotic technologies have been used under manipulation and locomotion environments for the development of service robots, surgical robots, collaborative robots, etc. Nevertheless, further development of manipulation robots faces many challenges that must be addressed before their widespread applications.The major challenges include: (1) non-collaborative interaction with humans due to the inherent intolerance of rigid-bodied robotic arms. (2) inability of soft grippers to offer adequate stiffness/strength as rigid counterparts due to the high deformability of materials utilized. (3) lack of shape control of fingertip to enhance stability and dexterity. (4) lack of rapid and inexpensive manufacturing methods.Aimed to address these challenges, under-actuated reconfigurable structures, in particular, programmable designs for soft pneumatic bellows-shaped actuators with distinct motions, are explored in Part I of the thesis, thus a wide range of functionalities engendered through tuning channel parameters. A closed-loop design approach is generated for motion trajectory customization with tunable channel profiles. Moreover, a design of bio-inspired soft robotic fingers is studied in Part II, based upon hybrid jamming principle - integrated layer jamming and particle jamming, being capable of simultaneous bending shape control and stiffness modulation. In addition, an under-actuated origamibased shape morphing fingertip design is also presented in Part III, to actively tackle the grasping stability and dexterity problems. Furthermore, automatic fabrication processes (based on additive manufacturing) are developed for such manipulators.Research in this thesis is expected to provide new insights into the development of under-actuated reconfigurable robots under manipulation environments endowed with automatic fabrication, and pave a way for designing a series of function-oriented manipulators in an automatic flow.

ISBN: 9798426864962Subjects--Topical Terms:

3562902
Load.

Investigation of Under-Actuated Reconfigurable Structures Under Manipulation Environments.
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