Date of Award
Master of Science in Ocean Engineering
This project aimed to advance the deployment opportunities of soft grippers by providing a technique to quantitatively evaluate the loading distribution of a manipulator. In an underwater environment, soft grippers show great promise as they provide a means of delicate manipulation that has been claimed to largely surpasses the capabilities of traditional rigid grippers. The inherent compliance of soft grippers passively eliminates accidental shock and point loading; however, this compliant mechanic also complicates the quantitative assessment of measuring and mapping the loading exerted by a soft gripper. Knowing the loading distribution of a soft gripper would provide a numerical means to justify the claim of capability superiority over a traditional mechanical gripper. This project successfully proved that a pressure-sensitive film could capture the maximum load distribution of a fluid elastomer actuator aided granular jamming gripper in an underwater environment. Analysis of the distribution loading shows that this gripper exerted a maximum pressure loading which saturated the ultra extreme low film (>50.3 kPa) in small regions where granular point loading was observed, while SPI’s Topaq Analysis reported the average pressure to be 29.13 kPa. This jamming gripper was designed to be field-interchangeable with the Blue Robotics Newton Gripper which shows average pressure loadings up to three times greater than the jamming gripper.
Rock, Michael, "THE QUANTIFICATION AND REDESIGN OF A GRANULAR JAMMING GRIPPER WITH INTERNAL PRINTED HYDRAULICS" (2022). Open Access Master's Theses. Paper 2167.