Kinematic evaluation of end effector design


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dc.contributor.author Edwards, Gary W.
dc.date.accessioned 2012-11-01T17:34:13Z
dc.date.available 2012-11-01T17:34:13Z
dc.date.issued 1992-09
dc.identifier.uri http://hdl.handle.net/1912/5497
dc.description 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 en_US
dc.description.abstract 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. en_US
dc.format.mimetype application/pdf
dc.language.iso en_US en_US
dc.publisher Massachusetts Institute of Technology and Woods Hole Oceanographic Institution en_US
dc.relation.ispartofseries WHOI Theses en_US
dc.subject Robotics en_US
dc.subject Ocean bottom en_US
dc.title Kinematic evaluation of end effector design en_US
dc.type Thesis en_US
dc.identifier.doi 10.1575/1912/5497

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