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.
Waldbauer, Jacob R. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2010-02)Biological activity has shaped the surface of the earth in numerous ways, but life’s most pervasive and persistent global impact has been the secular oxidation of the surface environment. Through primary production – the ...
Temporal variability and vertical structure in larval abundance : the potential roles of biological and physical processes Garland, Elizabeth D. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2000-02)Recruitment variability in benthic invertebrate populations results from variability in planktonic larval supply and from processes occurring during and after larval settlement onto the seafloor. The focus of this thesis ...
Physiological and behavioral diagnostics of nitrogen limitation for the toxic dinoflagellate Alexandrium fundyense Poulton, Nicole J. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2000-09)One challenge in phytoplankton ecology is to measure species-specific physiological responses to changes in environmental conditions. Of particular importance in this regard are harmful algal bloom (RAB) species such as ...