University of Twente Student Theses


Design and control of an under-actuated gripper module for interaction with a remote environment

Ridder, L.W. van de (2015) Design and control of an under-actuated gripper module for interaction with a remote environment.

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Abstract:Service tasks on large buildings or industrial structures, e.g. inspection for structural integrity of bridges or industrial plants, window cleaning of skyscrapers, usually entail laborious and expensive support structures and hazardous working environments. Recent developments on UAVs interacting with a remote environment offer many new possibilities, leading to service robotics becoming airborne. Within the AIRobots project , a European project in the field of innovative aerial service robots, a robotic manipulator has been developed to endow a UAV for interactive inspection tasks. A versatile end-effector has been designed to make full use of the broad range of possible applications the system can offer. Several task specific modules have been proposed and elaborated on. In this work, a redesign of an under-actuated gripper module is carried out, whose preliminary conceptual design has been proposed in a previous project. Mechanical design of the gripper, modeling, control and a full construction of the system is realized. Moreover, in conjunction with the gripper module, a redesign of the mVSA-UT (miniaturized variable stiffness actuator) is conducted to adapt the actuator to add a second non-compliant output shaft for a complete integration of the whole system.
Item Type:Essay (Master)
Faculty:TNW: Science and Technology
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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