Award Date

5-1-2024

Degree Type

Thesis

Degree Name

Master of Science in Engineering (MSE)

Department

Mechanical Engineering

First Committee Member

Paul Oh

Second Committee Member

Kwang Kim

Third Committee Member

Woosoon Yim

Fourth Committee Member

Brendan Morris

Number of Pages

66

Abstract

A granular jamming gripper (GJG) is widely known as a Universal Gripper because of the wide range of objects that it can grasp and the simplicity of control, design, and manufacturing. Despite multitude of research improving the GJG, here, we focus on the base version of the GJG and attempt to glean the range of objects that it may reliably grasp. Despite the limited range of objects, which were a sphere, rectangular prism, and cylinder, we gleaned geometric properties as it relates to successful and unsuccessful grasping. This was based on the two types of testing: push and pull testing that measured the grasp ability, and grasp strength, respectively. The experiment results were surprising because we used the load cell in different orientations, but we attained the expected results as if the load cell was in the same orientation. These experiments attempt to validate and build upon current research by economically developing and testing the apparatus and gripper. From these experiments, we validated that the gripper grasp ability depends on the gripper diameter, and the contact angle with the object via introducing a “pressure” parameter that is the force by the surface area contact. Since a cartesian machine was used, we can nearly guarantee the depth into the object and therefore calculate the surface area contact using the 3D model.

Keywords

granular jamming; robotic gripper

Disciplines

Artificial Intelligence and Robotics | Mechanical Engineering | Robotics

File Format

pdf

File Size

2500 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

Rights

IN COPYRIGHT. For more information about this rights statement, please visit http://rightsstatements.org/vocab/InC/1.0/

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