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Date of Award
Thesis - Pacific Access Restricted
Master of Science in Engineering (M.S.Eng.)
First Committee Member
Second Committee Member
The purpose of this thesis is to ascertain the feasibility of using strain gauges attached to a Unmanned Aerial Vehicle (UAV) gripper to determine, upon impact, the hardness of a landing site. We design and fabricate a four finger gripper that uses a rotary component to convert the rotational motion of a servo to the linear motion of the finger assemblies. We functionally test a gripper prototype made from rapid-prototype material. We conduct three experiments to test the gripper's functionality. The first experiment tests the gripper's ability to grasp, lift, and release a centered payload, and the gripper performed with overall success rates of 91%, 100%, and 87% respectively. The second experiment tests the gripper's ability to self-align, lift and release the payload and the gripper performed with overall success rates of 99%, 100%, and 96% respectively. The third experiment tests the functional durability of the gripper, and it performed without error for 5000 open/close cycles.
Van Hoosear, Christopher A.. (2013). Surface hardness classification via unmanned aerial vehicles gripper finger deflection. University of the Pacific, Thesis - Pacific Access Restricted. https://scholarlycommons.pacific.edu/uop_etds/231
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