Master of Technology Management Plan II Graduate Projects
Date of Award
Spring 5-6-2016
Document Type
Thesis
Degree Name
Master of Technology Management-Engineering Technology
Department
Engineering Technologies
First Advisor
Dr. Mohammad Mayyas
Second Advisor
Dr. Sri Kolla
Abstract
In this work, we develop a scalable end-effector mechanism for grasping three- dimensional objects with sizes ranging from micrometer to millimeter scale. The design architecture of the gripper comprises an array of identical fingers patented in a circular fashion. Each finger is designed from a novel linkage mechanism whose end effector is manipulated by two independent actuators. In this research, we study three finger gripper device, where each is obtained from a 3 - linkage mechanism. The device is controlled by three independent piezo actuators, and one electro-magnetic solenoid common to each mechanism. The gripping capability depends on how fingers are controlled collectively and on the mechanical flexibility, which together provide variety of gripping performances that are necessary to handle a wide variety of objects. The gripping performance is defined here by grasping force at contact, motion range, and bandwidth. Optimization is done to design the link lengths for the best Geometric Advantage (GA), and the functionality evaluated using finite element analysis software, ANSYS.
Recommended Citation
Mamidala, Ikya, "Scalable Three-Dimensional Grasping Mechanism" (2016). Master of Technology Management Plan II Graduate Projects. 21.
https://scholarworks.bgsu.edu/ms_tech_mngmt/21