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oai:www.ideals.illinois.edu:2142/81966 2023-07-11 col_2142_5131 col_2142_10761 com_2142_5130 com_2142_10755 com_2142_234

Ponce, Jean Sudsang, Attawith 2015-09-25T20:21:13Z 2015-09-25T20:21:13Z 10000-01-01 1999 1999 This thesis addresses the problem of immobilizing and manipulating parts with devices that have a mixture of discrete and continuous degrees of freedom. Immobilizing an object requires calculating the device parameters that reduce the positions and orientations of the object compatible with the contact constraints to a single point of its configuration space. Likewise, manipulating an object requires identifying the regions of its configuration space where it is free to move under the contact constraints. The kinematic theory of second order mobility of rigid bodies is used, together with the new concept of Inescapable Configuration Space region, to devise efficient algorithms for planning immobilizing fixtures, grasps, in-hand manipulation sequences and obstacle avoidance manipulation plans for parts with known geometry. This approach is applied to three different mechanisms: a fixturing device assembled from standard modular elements, a novel reconfigurable gripper, and a team of mobile robots. Made available in DSpace on 2015-09-25T20:21:13Z (GMT). No. of bitstreams: 2 license.txt: 4848 bytes, checksum: 96035ab3f5e1c23cc7138a224ce498bd (MD5) 9953151.pdf: 7370185 bytes, checksum: de392b7f7f82373605f0220abf014e69 (MD5) Previous issue date: 1999 Embargo set by: Seth Robbins for item 83247 Lift date: Forever Reason: Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs Restricted to the U of I community idenfinitely during batch ingest of legacy ETDs U of I Only 165 p. Thesis (Ph.D.)--University of Illinois at Urbana-Champaign, 1999. http://hdl.handle.net/2142/81966 (MiAaPQ)AAI9953151 eng Engineering, Electronics and Electrical Geometry and Algorithms for Part Fixturing, Grasping and Manipulation With Modular Fixturing Elements, a New Reconfigurable Gripper and Mobile Robots text Computer Science Computer Science University of Illinois at Urbana-Champaign Dissertation Ph.D.