Development of a cement-finishing robot using soft granular jamming gripper actuation | |
| Author | Gutierrez, Herschel Apat |
| Call Number | AIT Thesis no.ISE-24-29 |
| Subject(s) | Soft robotics Robots--Control systems Automatic control |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in Mechatronics and Machine Intelligence |
| Publisher | Asian Institute of Technology |
| Abstract | With the emergence of soft robotics, interests arise in developing new mechanism design in manipulating soft robotic grippers for different applications for industrial fields. The soft gripper using granular jamming relies on the unique property of granular materials in transitioning from a deformable state to rigid state which mimics the shapes of various objects. The application of the soft jamming grippers having ground coffee beans as the granular media for its advantages due to its low density and the capability at deformable state to conform according to different objects which allows it to effectively grasp wide variety of shapes and sizes. Utilizing positive and vacuum pressure systems allows gripper actuation and tool manipulation during finishing operation. Ensuring precise and accurate cement finishes, fuzzy logic control is implemented to adequately provide adaptive force control capabilities of the gantry robotic configuration. The simplicity of the robot to perform complex tasks, requiring a delicate and flexible grip, is enhanced by its integration with these solutions in optimizing coordination between the soft grippers and the robotic system by implementing algorithms for control. |
| Year | 2024 |
| Type | Thesis |
| School | School of Engineering and Technology |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Mechatronics and Machine Intelligence (MMI) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bora, Tanujjal |
| Scholarship Donor(s) | DOST-SEI Foreign Graduate Scholarships;AIT Scholarship |
| Degree | Thesis (M. Sc.) - Asian Institute of Technology, 2024 |