지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학위논문
- 저자정보
- 지도교수
- 조성진
- 발행연도
- 2019
- 저작권
- 충남대학교 논문은 저작권에 의해 보호받습니다.
이용수9
이 논문의 연구 히스토리 (2)
- 이 논문의 후속연구가 궁금하신가요?
- 연관 학술논문 또는 학술발표를 통해 보다 발전된 연구결과를 확인하실 수 있습니다.
- 이 논문의 연구 히스토리 확인하기
초록· 키워드
오류제보하기
By the recent development of co-working robots with safety functions, which makes humans work with them in the same area, some damands follow that requires recognizing function so that these can cope with humans’ increased work abilities.
Although several types of grips have been invented, still there was a problem with the shape of grips which is differed by every solid object that requires alteration shape by shape and material by material. Also, usual grips made of solid materials had limitation with carrying non-solid objects. In this project, we suggest ‘soft gripping technology‘, a universal technology that jamming mechanism and form-fit system are applied, that can hold various objects, minimizes damage caused by gripping.
By designing traditional jamming structure into planar shape, not only this can grab objects with less initial strength, but also it can maintain high grabbing ability while maintaining the grab. We crafted a prototype made of flexible, porous parts and observed the efficiency of our new system by contrasting with normal grip technology system.
Although several types of grips have been invented, still there was a problem with the shape of grips which is differed by every solid object that requires alteration shape by shape and material by material. Also, usual grips made of solid materials had limitation with carrying non-solid objects. In this project, we suggest ‘soft gripping technology‘, a universal technology that jamming mechanism and form-fit system are applied, that can hold various objects, minimizes damage caused by gripping.
By designing traditional jamming structure into planar shape, not only this can grab objects with less initial strength, but also it can maintain high grabbing ability while maintaining the grab. We crafted a prototype made of flexible, porous parts and observed the efficiency of our new system by contrasting with normal grip technology system.
목차
1. 서 론 11.1. 연구 배경 21.2. 연구 동향 41.3. 연구 목표 52. 가변강성 소프트 그리퍼 62.1. 소프트 그리퍼의 파지 원리 82.2. 소프트 그리퍼의 구성 92.2.1. 유연 다공성 구조 102.2.2. 유연 지지체 122.3. Prototype fabrication 133. 강성 실험 및 결과 143.1. Experimental Setup 143.2. 강성 실험 결과 154. 물체 이송 성능 실험 및 결과 213.1. Experimental Setup 213.2. 물체 이송 성능 실험 결과 225. 결론 25Reference 26Abstract 31
최근 본 자료
댓글(0)
0