Design principles for manipulation with astrictive contact
Abstract/Contents
- Abstract
- Anthropomorphic hands have existed in research circles for over thirty years, yet simple, parallel grippers continue to be the norm in manufacturing and real-world applications because they deliver strong grips in a light and compact package. Many-jointed hands have significant kinematic advantages over their less mobile counterparts but must also deliver robust strength without sacrificing that dexterity if they are to be adopted in more practical settings. Astrictive contact conditions, achieved through suction, gecko-inspired adhesives, and micro-spines, can improve grasp quality without decreasing mobility or increasing actuation effort but demand a novel set of design considerations. Rather than normal forces and point contacts, the principles of high contact area, shear load sharing, and even normal stress distribution determine the limits of manipulation capacity. These three conditions are explored theoretically and implemented practically on four robotic manipulators. Together, these prototypes form a framework for manipulation with astrictive contact through a combination of passive mechanical structures, practical controls, and novel actuation schemes.
Description
| Type of resource | text |
|---|---|
| Form | electronic resource; remote; computer; online resource |
| Extent | 1 online resource. |
| Place | California |
| Place | [Stanford, California] |
| Publisher | [Stanford University] |
| Copyright date | 2021; ©2021 |
| Publication date | 2021; 2021 |
| Issuance | monographic |
| Language | English |
Creators/Contributors
| Author | Ruotolo, Wilson |
|---|---|
| Degree supervisor | Cutkosky, Mark R |
| Thesis advisor | Cutkosky, Mark R |
| Thesis advisor | Kennedy, Monroe |
| Thesis advisor | Khatib, Oussama |
| Degree committee member | Kennedy, Monroe |
| Degree committee member | Khatib, Oussama |
| Associated with | Stanford University, Department of Mechanical Engineering |
Subjects
| Genre | Theses |
|---|---|
| Genre | Text |
Bibliographic information
| Statement of responsibility | Wilson Ruotolo. |
|---|---|
| Note | Submitted to the Department of Mechanical Engineering. |
| Thesis | Thesis Ph.D. Stanford University 2021. |
| Location | https://purl.stanford.edu/wv950cd0334 |
Access conditions
- Copyright
- © 2021 by Wilson Ruotolo
- License
- This work is licensed under a Creative Commons Attribution Share Alike 3.0 Unported license (CC BY-SA).
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