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Adaptable robotic grasping

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thesis
posted on 28.03.2022, 15:08 by Brendan Menzies
Automation is being integrated into a wider range of tasks every year as technology increases to allow its development and growth. A machine that is able to capably perform more than one task or be able to adapt to unknown circumstances is more beneficial than a machine that cannot. This project investigates the capabilities of low cost tactile sensors being used to determine different properties of gripped objects to allow for an adaptable grasping system. These properties include shape, material type and contact area. A circuit was developed to excite the sensors and condition the sensor signal so that the information can be ready by an Arduino Uno microcontroller. Alongside the sensor research, a program was made using Matlab to control a five degrees of freedom robotic arm, with a user interface. The program was also used to control the gripper based on the sensor data. The tests performed on the sensors investigated the sensor characteristics, variable force tests, force response test, phase shift tests and object shape identification tests. With the system developed and tested, there was no strong indication that any of the force-sensing resistors or interdigitated capacitive sensors could determine object properties. With some modifications, this system could be used to investigate other types of sensors to determine their capabilities in object determination.

History

Table of Contents

1. Project introduction -- 2. Background -- 3. Design of the system -- 4. Experiments -- 5. Conclusions and future work -- 6. Abbreviations -- Appendices -- Bibliography.

Notes

Empirical thesis. Bibliography: pages 103-104

Awarding Institution

Macquarie University

Degree Type

Thesis bachelor honours

Degree

BSc (Hons), Macquarie University, Faculty of Science and Engineering, School of Engineering

Department, Centre or School

School of Engineering

Year of Award

2016

Principal Supervisor

Subhas Mukhopadhyay

Rights

Copyright Brendan Menzies 2016. Copyright disclaimer: http://mq.edu.au/library/copyright

Language

English

Extent

1 online resource (xvii, 104 pages colour illustrations)

Former Identifiers

mq:70330 http://hdl.handle.net/1959.14/1262627

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