Please use this identifier to cite or link to this item:
Title: Design and control of a soft robotic arm
Authors: Zhang, Bojian
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Zhang, B. (2022). Design and control of a soft robotic arm. Master's thesis, Nanyang Technological University, Singapore.
Abstract: This dissertation presents a novel soft robotic material-based gripper which is controlled by tendon driven system. One of significant characteristic of the gripper is stiffness changing ability. The soft robotic material constructs a kind of structured fabric which looks like chain mail. In unvacuumed situation, the components of fabric have no interlock which creates flexibility of gripper. Once applying vacuumed situation, the particles interlock, the chain mail jam, and gripper harden. The dissertation describes the concept, the snake-shaped gripper, and the control system design.
Schools: School of Mechanical and Aerospace Engineering 
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Theses

Files in This Item:
File Description SizeFormat 
  Restricted Access
745.71 kBAdobe PDFView/Open

Page view(s)

Updated on Jun 1, 2023


Updated on Jun 1, 2023

Google ScholarTM


Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.