Full metadata
Title
Design and Fabrication of a Low-Cost Gripper for a Swarm Robotic Platform
Description
This thesis details the design and construction of a torque-controlled robotic gripper for use with the Pheeno swarm robotics platform. This project required expertise from several fields of study including: robotic design, programming, rapid prototyping, and control theory. An electronic Inertial Measurement Unit and a DC Motor were both used along with 3D printed plastic components and an electronic motor control board to develop a functional open-loop controlled gripper for use in collective transportation experiments. Code was developed that effectively acquired and filtered rate of rotation data alongside other code that allows for straightforward control of the DC motor through experimentally derived relationships between the voltage applied to the DC motor and the torque output of the DC motor. Additionally, several versions of the physical components are described through their development.
Date Created
2019-05
Contributors
- Mohr, Brennan (Author)
- Berman, Spring (Thesis director)
- Ren, Yi (Committee member)
- Mechanical and Aerospace Engineering Program (Contributor)
- School for Engineering of Matter,Transport & Enrgy (Contributor)
- Barrett, The Honors College (Contributor)
Topical Subject
Resource Type
Extent
31 pages
Language
eng
Copyright Statement
In Copyright
Primary Member of
Series
Academic Year 2018-2019
Handle
https://hdl.handle.net/2286/R.I.52361
Level of coding
minimal
Cataloging Standards
System Created
- 2019-04-10 12:00:31
System Modified
- 2021-08-11 04:09:57
- 3 years 3 months ago
Additional Formats