Kinematic evaluation of end effector design
Edwards, Gary W.
MetadataShow full item record
The complex, many degree-of-freedom end effectors at the leading edge of technology would be unusable in the sea bottom research environment. Simpler designs are required to provide adequate reliability for subsea use. This work examines selection of end effector designs to achieve optimum grasping ability with minimal mechanical complexity. A new method of calculating grasp stability is developed, incorporating elements of previous works in the field. Programs are developed which evaluate the ability of different end effector configurations to grasp representative objects (a cube, sphere and infinite cylinder). End effector designs considered had circular palms with fingers located at the periphery, oriented so that each pointed to the center of the palm. The program tested configurations of from 1 to 4 fingers and from 1 to 3 links per finger. Three sets of finger proportions were considered: equal length links, half length links, and anthropomorphic proportions. The 2 finger, 2 link per finger configuration was determined to be the optimum design, and the half length proportions were selected as the best set of proportions.
Submitted in partial fulfillment of the requirements for the degree of Ocean Engineer at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1992
Showing items related by title, author, creator and subject.
Iselin, Columbus O’Donnell (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1936-08)With the opening of the Woods Hole Oceanographic Institution in July 1931, there was inaugurated a program of investigations in the deep waters of the western North Atlantic for which there had long been a great need. ...
A study of ocean wave statistical properties using nonlinear, directional, phase-resolved ocean wave-field simulations Henry, Legena Albertha (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2010-02)In the present work, we study the statistics of wavefields obtained from non-linear phase-resolved simulations. The numerical model used to generate the waves models wave-wave interactions based on the fully non-linear ...
Vertical distributions of temperature and humidity over the ocean between Nantucket and New Jersey Emmons, Gardner (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1947-12)This paper is concerned with the results of a series of airplane psychrometer soundings that were made over the ocean up to a height of 1500 ft during June, 1945. These soundings and previous soundings already described ...