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.
Monthly variability in upper ocean biogeochemistry due to mesoscale eddy activity in the Saragasso Sea Sweeney, Erin N. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2001-05)A comparison of monthly biogeochemical measurements made from 1993 to 1995, combined with hydrography and satellite altimetry, was used to observe the impacts of nine eddy events on primary productivity and particle flux ...
Pangallo, Kristin C. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2009-09)Halogenated 1’-methyl-1,2’-bipyrroles (MBPs) are a distinctive class of marine organic compounds. They are naturally produced, they have a unique carbon structure, they are highly halogenated, and they bioaccumulate in ...
Rykova, Tatiana A. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2006-06)The continuous supply of heat and fresh water from the boundaries to the interior of the Labrador Sea plays an important role for the dynamics of the region and in particular, for the Labrador Sea Water formation. Thus, ...