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

• 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
• Institution: Nanyang Technological University

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...