東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

Design principles for robust graspin...

Dollar, Aaron Michael.

Linked to FindBook

Google Book

Amazon

博客來

Design principles for robust grasping in unstructured environments.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Design principles for robust grasping in unstructured environments./
Author:	Dollar, Aaron Michael.
Description:	136 p.
Notes:	Adviser: Robert D. Howe.
Contained By:	Dissertation Abstracts International68-02B.
Subject:	Engineering, Electronics and Electrical. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3251264

Design principles for robust grasping in unstructured environments.
Dollar, Aaron Michael.

Design principles for robust grasping in unstructured environments. - 136 p.

Adviser: Robert D. Howe.

Thesis (Ph.D.)--Harvard University, 2007.

Grasping in unstructured environments is one of the most challenging issues currently facing robotics. The inherent uncertainty about the properties of the target object and its surroundings makes the use of traditional robot hands, which typically involve complex mechanisms, sensing suites, and control, difficult and impractical. In this dissertation I investigate how the challenges associated with grasping under uncertainty can be addressed by careful mechanical design of robot hands. In particular, I examine the role of three characteristics of hand design as they affect performance: passive mechanical compliance, adaptability (or underactuation), and durability. I present design optimization studies in which the kinematic structure, compliance configuration, and joint coupling are varied in order to determine the effect on the allowable error in positioning that results in a successful grasp, while keeping contact forces low. I then describe the manufacture of a prototype hand created using a particularly durable process called polymer-based Shape Deposition Manufacturing (SDM). This process allows fragile sensing and actuation components to be embedded in tough polymers, as well as the creation of heterogencous parts, eliminating the need for fasteners and seams that are often the cause of failure. Finally, I present experimental work in which the effectiveness of the prototype hand was tested in real, unstructured tasks. The results show that the grasping system, even with three positioning degrees of freedom and extremely simple hand control, can grasp a wide range of target objects in the presence of large positioning errors.Subjects--Topical Terms:

626636
Engineering, Electronics and Electrical.

Design principles for robust grasping in unstructured environments.
LDR:02513nam 2200277 a 45 001 970844
005 20110921
008 110921s2007 eng d
035 $a (UMI)AAI3251264
035 $a AAI3251264
040 $a UMI $c UMI
100 1 $a Dollar, Aaron Michael. $3 1294884
245 1 0 $a Design principles for robust grasping in unstructured environments.
300 $a 136 p.
500 $a Adviser: Robert D. Howe.
500 $a Source: Dissertation Abstracts International, Volume: 68-02, Section: B, page: .
502 $a Thesis (Ph.D.)--Harvard University, 2007.
520 $a Grasping in unstructured environments is one of the most challenging issues currently facing robotics. The inherent uncertainty about the properties of the target object and its surroundings makes the use of traditional robot hands, which typically involve complex mechanisms, sensing suites, and control, difficult and impractical. In this dissertation I investigate how the challenges associated with grasping under uncertainty can be addressed by careful mechanical design of robot hands. In particular, I examine the role of three characteristics of hand design as they affect performance: passive mechanical compliance, adaptability (or underactuation), and durability. I present design optimization studies in which the kinematic structure, compliance configuration, and joint coupling are varied in order to determine the effect on the allowable error in positioning that results in a successful grasp, while keeping contact forces low. I then describe the manufacture of a prototype hand created using a particularly durable process called polymer-based Shape Deposition Manufacturing (SDM). This process allows fragile sensing and actuation components to be embedded in tough polymers, as well as the creation of heterogencous parts, eliminating the need for fasteners and seams that are often the cause of failure. Finally, I present experimental work in which the effectiveness of the prototype hand was tested in real, unstructured tasks. The results show that the grasping system, even with three positioning degrees of freedom and extremely simple hand control, can grasp a wide range of target objects in the presence of large positioning errors.
590 $a School code: 0084.
650 4 $a Engineering, Electronics and Electrical. $3 626636
650 4 $a Engineering, Mechanical. $3 783786
650 4 $a Engineering, Robotics. $3 1018454
690 $a 0544
690 $a 0548
690 $a 0771
710 2 0 $a Harvard University. $3 528741
773 0 $t Dissertation Abstracts International $g 68-02B.
790 $a 0084
790 1 0 $a Howe, Robert D., $e advisor
791 $a Ph.D.
792 $a 2007
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3251264