Accession Number : ADA257519


Title :   Kinematic Evaluation of End Effector Design


Descriptive Note : Master's thesis


Corporate Author : WOODS HOLE OCEANOGRAPHIC INSTITUTION MA


Personal Author(s) : Edwards, Gary W


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a257519.pdf


Report Date : Sep 1992


Pagination or Media Count : 83


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.


Descriptors :   *ROBOTICS , *ROBOTS , *ANTHROPOMETRY , *HANDS , ENVIRONMENTS , THESES , FINGERS , SPHERES , BOUNDARIES , CONFIGURATIONS , SELECTION , OCEAN BOTTOM


Subject Categories : Cybernetics
      Human Factors Engineering & Man Machine System
      Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE