Design and analysis of jammable granular systems
Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.
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| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2013
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| Online Access: | http://hdl.handle.net/1721.1/81695 |
| _version_ | 1826191724211339264 |
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| author | Cheng, Nadia G. (Nadia Gen San) |
| author2 | Karl Iagnemma and Anette Hosoi. |
| author_facet | Karl Iagnemma and Anette Hosoi. Cheng, Nadia G. (Nadia Gen San) |
| author_sort | Cheng, Nadia G. (Nadia Gen San) |
| collection | MIT |
| description | Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013. |
| first_indexed | 2024-09-23T09:00:22Z |
| format | Thesis |
| id | mit-1721.1/81695 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T09:00:22Z |
| publishDate | 2013 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/816952019-04-10T20:10:02Z Design and analysis of jammable granular systems Cheng, Nadia G. (Nadia Gen San) Karl Iagnemma and Anette Hosoi. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis (Ph. D.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013. Cataloged from PDF version of thesis. Includes bibliographical references (p. 102-110). Jamming--the mechanism by which granular media can transition between liquid-like and solid-like states-has recently been demonstrated as a variable strength and stiffness mechanism in a range of applications. As a low-cost and simple means for achieving tunable mechanical properties, jamming has been used in systems ranging from architectural to medical ones. This thesis explores the utility of jamming for robotic manipulation applications, both at a fundamental level of understanding how granular properties affect the performance of jammed systems, and at a more applied level of designing functional robotic components. Specifically, the purpose of this thesis was to enable engineers to design jammable robotic systems in a principled manner. Three parallel yet related studies were conducted to work towards this goal. First, an experimental analysis was conducted to determine whether the bulk shear strength of granular systems can be correlated with grain properties-such as ones concerning shape, size distribution, and surface texture-extracted from 2D silhouettes of grains. Second, a novel medium composed of a mixture of hard and soft spheres was proposed to achieve variable strength and stiffness properties as a function of confining pressure; experimental analysis was conducted on this system with not only varying confining pressures but also varying mixing ratios of hard and soft spheres. Finally, the design and analysis of a novel jammable robotic manipulator-with the goal of maximizing both the strength and articulation of the system-is presented. by Nadia G. Cheng. Ph.D. 2013-10-24T17:45:04Z 2013-10-24T17:45:04Z 2013 2013 Thesis http://hdl.handle.net/1721.1/81695 860900719 eng M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission. http://dspace.mit.edu/handle/1721.1/7582 110 p. application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Cheng, Nadia G. (Nadia Gen San) Design and analysis of jammable granular systems |
| title | Design and analysis of jammable granular systems |
| title_full | Design and analysis of jammable granular systems |
| title_fullStr | Design and analysis of jammable granular systems |
| title_full_unstemmed | Design and analysis of jammable granular systems |
| title_short | Design and analysis of jammable granular systems |
| title_sort | design and analysis of jammable granular systems |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/81695 |
| work_keys_str_mv | AT chengnadiagnadiagensan designandanalysisofjammablegranularsystems |