Design and analysis of mechanical holders


Thesis Type: Postgraduate

Institution Of The Thesis: Bursa Uludağ University, Fen Bilimleri Enstitüsü, Turkey

Approval Date: 1995

Thesis Language: Turkish

Student: Şevket Tursunov

Supervisor: YAŞAR PALA

Abstract:

This thesis has been devoted to studying robot hands that are regarded as one of the most important parts of a robot. Static and dynamic force analysis taking effect in the course of manipulation of the robot hand has been carried out. Some other types of hands have also been studied. As a special case, an elastik robot hand with two fıngers and four degrees of freedom has been constructed and the related mathematical model for control algorithm has been set up for the movement of an object by the manipulating force of a jointed elastic robot hand. Static and dynamics computations have been carried out and compared with the previosly obtained results for this model.