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.
McDermott, Jill M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2015-02)This thesis examines the controls on organic, inorganic, and volatile species distributions in hydrothermal fluids venting at Von Damm and Piccard, two vent fields at the ultraslow spreading Mid-Cayman Rise, Earth’s deepest ...
Reed, Brooks L. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2015-02)Real-time cooperation between autonomous vehicles can enable time-critical missions such as tracking and pursuit of a dynamic target or environmental feature, but relies on wireless communications. Underwater communication ...
Drenkard, Elizabeth J. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2015-02)Global climate models project a 21st century strengthening of the Pacific Equatorial Undercurrent (EUC). The consequent increase in topographic upwelling of cool waters onto equatorial coral reef islands would mitigate ...