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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Bibliographic Details
Main Author:	Choo, Wei Jie
Other Authors:	Domenico Campolo
Format:	Final Year Project
Language:	English
Published:	Nanyang Technological University 2021
Subjects:	Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Robots
Online Access:	https://hdl.handle.net/10356/149609
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Institution:	Nanyang Technological University
Language:	English

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spelling	sg-ntu-dr.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
institution	Nanyang Technological University
building	NTU Library
continent	Asia
country	Singapore Singapore
content_provider	NTU Library
collection	DR-NTU
language	English
topic	Engineering::Mechanical engineering::Mechatronics Engineering::Mechanical engineering::Robots
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
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.
author2	Domenico Campolo
author_facet	Domenico Campolo Choo, Wei Jie
format	Final Year Project
author	Choo, Wei Jie
author_sort	Choo, Wei Jie
title	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_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_sort	sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks
publisher	Nanyang Technological University
publishDate	2021
url	https://hdl.handle.net/10356/149609
_version_	1701270573395476480

Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks

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