Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/149609
Title: Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks
Authors: Choo, Wei Jie
Keywords: Engineering::Mechanical engineering::Mechatronics
Engineering::Mechanical engineering::Robots
Issue Date: 2021
Publisher: Nanyang Technological University
Source: Choo, W. J. (2021). Sensorised hand-held gripper for assessment of kinematics and dynamics features in assembly tasks. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/149609
Abstract: A sensorised gripper tool which features force/torque sensing as well as motion tracking is developed. The tool is intended for kinematics and dynamics analysis of interaction forces during assembly tasks. In this thesis, we first cover the rapid prototyping process. The procedure to calibrate a six-axis F/T sensor is detailed. A simple implementation of extracting tool position and orientation from a motion capture system is shown. Experiments are conducted to show viability of the tool for its intended purpose.
URI: https://hdl.handle.net/10356/149609
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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