Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 1 of 1
Full-Text Articles in Engineering
Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping, Jacob Ames Ziesmer
Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping, Jacob Ames Ziesmer
Master's Theses (2009 -)
The goal of this thesis is to move a step towards the solution of the bin picking problem. A novel metamorphic end effector is proposed, tested for proof of concept and analyzed using standard techniques of degrees of freedom and graph theory as well as a classical dynamic analysis. Once proof of concept was achieved, the results from the analysis were formed into an optimization program with the hope of finding a more stable, predictable mechanism.