Design and control of a soft robotic arm
This dissertation presents a novel soft robotic material-based gripper which is controlled by tendon driven system. One of significant characteristic of the gripper is stiffness changing ability. The soft robotic material constructs a kind of structured fabric which looks like chain mail. In unva...
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| Format: | Thesis-Master by Coursework |
| Language: | English |
| Published: |
Nanyang Technological University
2022
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| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/157021 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This dissertation presents a novel soft robotic material-based gripper which is
controlled by tendon driven system. One of significant characteristic of the
gripper is stiffness changing ability. The soft robotic material constructs a kind
of structured fabric which looks like chain mail. In unvacuumed situation, the
components of fabric have no interlock which creates flexibility of gripper. Once
applying vacuumed situation, the particles interlock, the chain mail jam, and
gripper harden. The dissertation describes the concept, the snake-shaped gripper,
and the control system design. |
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