A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014.
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| Other Authors: | |
| Format: | Thesis |
| Language: | eng |
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Massachusetts Institute of Technology
2014
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| Online Access: | http://hdl.handle.net/1721.1/92066 |
| _version_ | 1811081366218997760 |
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| author | Gonzalez, Daniel Jesus |
| author2 | H. Harry Asada. |
| author_facet | H. Harry Asada. Gonzalez, Daniel Jesus |
| author_sort | Gonzalez, Daniel Jesus |
| collection | MIT |
| description | Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014. |
| first_indexed | 2024-09-23T11:45:33Z |
| format | Thesis |
| id | mit-1721.1/92066 |
| institution | Massachusetts Institute of Technology |
| language | eng |
| last_indexed | 2024-09-23T11:45:33Z |
| publishDate | 2014 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/920662019-04-11T07:27:13Z A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper Gonzalez, Daniel Jesus H. Harry Asada. Massachusetts Institute of Technology. Department of Mechanical Engineering. Massachusetts Institute of Technology. Department of Mechanical Engineering. Mechanical Engineering. Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2014. This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections. Cataloged from student-submitted PDF version of thesis. Includes bibliographical references (pages 47-49). In this work, an underactuated robot gripper was designed to meet specifications for strength, cost, and ease of manufacturing with Open-Source distribution in mind. The specifications emerged from a need for inexpensive grippers that can be used on robots that help people brace and balance. The structure and transmission of the gripper is designed to bear 150 lbs-force of static tensile and compressive loads. Gripping forces that exceed the static actuator force output are achieved by a novel method of clamping the main drive tendon by detecting dynamic overshoot and applying a self-helping cable brake, relieving the main drive actuator. The geometry, stiffness, and behavior of the gripper was designed using mathematical models and tools developed in prior art for the optimal design of underactuated hands. Apart from the actuators and waterjet machining services, the materials for the gripper can be purchased in one McMaster-Carr order. The entire structure can be cut from a single sheet of 1/16" 2024 aluminum and requires one operation on a waterjet machine, which can be found in many machine shops or through online machining services. It is the intention of the author to release the design files as Open-Source in order to allow robot researchers, engineers, and enthusiasts to use this gripper in their own work. by Daniel Jesus Gonzalez. S.B. 2014-12-08T18:09:33Z 2014-12-08T18:09:33Z 2014 2014 Thesis http://hdl.handle.net/1721.1/92066 897206081 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 49 pages application/pdf Massachusetts Institute of Technology |
| spellingShingle | Mechanical Engineering. Gonzalez, Daniel Jesus A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper |
| title | A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper |
| title_full | A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper |
| title_fullStr | A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper |
| title_full_unstemmed | A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper |
| title_short | A low-cost, high-strength, open-source, rapid prototypeable underactuated robot gripper |
| title_sort | low cost high strength open source rapid prototypeable underactuated robot gripper |
| topic | Mechanical Engineering. |
| url | http://hdl.handle.net/1721.1/92066 |
| work_keys_str_mv | AT gonzalezdanieljesus alowcosthighstrengthopensourcerapidprototypeableunderactuatedrobotgripper AT gonzalezdanieljesus lowcosthighstrengthopensourcerapidprototypeableunderactuatedrobotgripper |