Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks
A sensorised gripper tool which features force/torque sensing as well as motion tracking is developed. The tool is intended for kinematics and dynamics analysis of interaction forces during assembly tasks. In this thesis, we first cover the rapid prototyping process. The procedure to calibrate a six...
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| Format: | Final Year Project (FYP) |
| Language: | English |
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Nanyang Technological University
2021
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| Online Access: | https://hdl.handle.net/10356/149609 |
| _version_ | 1826125774359363584 |
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| author | Choo, Wei Jie |
| author2 | Domenico Campolo |
| author_facet | Domenico Campolo Choo, Wei Jie |
| author_sort | Choo, Wei Jie |
| collection | NTU |
| description | A sensorised gripper tool which features force/torque sensing as well as motion tracking is developed. The tool is intended for kinematics and dynamics analysis of interaction forces during assembly tasks. In this thesis, we first cover the rapid prototyping process. The procedure to calibrate a six-axis F/T sensor is detailed. A simple implementation of extracting tool position and orientation from a motion capture system is shown. Experiments are conducted to show viability of the tool for its intended purpose. |
| first_indexed | 2024-10-01T06:42:10Z |
| format | Final Year Project (FYP) |
| id | ntu-10356/149609 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T06:42:10Z |
| publishDate | 2021 |
| publisher | Nanyang Technological University |
| record_format | dspace |
| spelling | ntu-10356/1496092021-05-19T09:09:35Z Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks Choo, Wei Jie Domenico Campolo School of Mechanical and Aerospace Engineering Robotics Research Centre d.campolo@ntu.edu.sg Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Robots A sensorised gripper tool which features force/torque sensing as well as motion tracking is developed. The tool is intended for kinematics and dynamics analysis of interaction forces during assembly tasks. In this thesis, we first cover the rapid prototyping process. The procedure to calibrate a six-axis F/T sensor is detailed. A simple implementation of extracting tool position and orientation from a motion capture system is shown. Experiments are conducted to show viability of the tool for its intended purpose. Bachelor of Engineering (Mechanical Engineering) 2021-05-19T09:09:35Z 2021-05-19T09:09:35Z 2021 Final Year Project (FYP) Choo, W. J. (2021). Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/149609 https://hdl.handle.net/10356/149609 en application/pdf Nanyang Technological University |
| spellingShingle | Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Robots Choo, Wei Jie Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks |
| title | Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks |
| title_full | Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks |
| title_fullStr | Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks |
| title_full_unstemmed | Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks |
| title_short | Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks |
| title_sort | sensorised hand held gripper for assessment of kinematics and dynamics features in assembly tasks |
| topic | Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Robots |
| url | https://hdl.handle.net/10356/149609 |
| work_keys_str_mv | AT chooweijie sensorisedhandheldgripperforassessmentofkinematicsanddynamicsfeaturesinassemblytasks |