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...
Saved in:
| Main Author: | |
|---|---|
| Other Authors: | |
| Format: | Thesis-Master by Coursework |
| Language: | English |
| Published: |
Nanyang Technological University
2022
|
| Subjects: | |
| Online Access: | https://hdl.handle.net/10356/157021 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| Institution: | Nanyang Technological University |
| Language: | English |
| id |
sg-ntu-dr.10356-157021 |
|---|---|
| record_format |
dspace |
| spelling |
sg-ntu-dr.10356-1570212023-03-11T18:10:33Z Design and control of a soft robotic arm Zhang, Bojian Yifan Wang School of Mechanical and Aerospace Engineering yifan.wang@ntu.edu.sg Engineering::Mechanical engineering::Robots 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. Master of Science (Smart Manufacturing) 2022-05-09T03:40:00Z 2022-05-09T03:40:00Z 2022 Thesis-Master by Coursework Zhang, B. (2022). Design and control of a soft robotic arm. Master's thesis, Nanyang Technological University, Singapore. https://hdl.handle.net/10356/157021 https://hdl.handle.net/10356/157021 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::Robots |
| spellingShingle |
Engineering::Mechanical engineering::Robots Zhang, Bojian Design and control of a soft robotic arm |
| description |
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. |
| author2 |
Yifan Wang |
| author_facet |
Yifan Wang Zhang, Bojian |
| format |
Thesis-Master by Coursework |
| author |
Zhang, Bojian |
| author_sort |
Zhang, Bojian |
| title |
Design and control of a soft robotic arm |
| title_short |
Design and control of a soft robotic arm |
| title_full |
Design and control of a soft robotic arm |
| title_fullStr |
Design and control of a soft robotic arm |
| title_full_unstemmed |
Design and control of a soft robotic arm |
| title_sort |
design and control of a soft robotic arm |
| publisher |
Nanyang Technological University |
| publishDate |
2022 |
| url |
https://hdl.handle.net/10356/157021 |
| _version_ |
1761781199521447936 |