2026-09-21T12:39:38Z https://www.ideals.illinois.edu/oai-pmh

oai:www.ideals.illinois.edu:2142/95613 2023-07-11 col_2142_5131 col_2142_16359 com_2142_5130 com_2142_16358 com_2142_234

Krishnan, Girish Uppalapati, Naveen Kumar 2017-03-01T17:02:04Z 2017-03-01T17:02:04Z 2019-03-02T10:15:27Z 2016-12-06 2016-12 Continuum robots have been gaining popularity in recent years for their umpteen advantages. Soft robots are a class of continuum robots which are made of squishy materials which have the added benefit of being innocuous to humans. Soft robotic grippers are one of the major application of soft robots as they have the ability to conform and adapt their structure to the object to be grasped. This work presents a bio-inspired technique to increase contact area while grasping and handling long slender objects by helically twisting around them. An embodiment of such a spiral gripper utilizes unique configurations of pneumatically actuated Fiber Reinforced Elastomeric Enclosures which has a range of motions like extension, rotation, contraction. This work presents a detailed analysis technique using Cosserat beam theory to estimate the normal contact force exerted by the spiral gripper on cylindrical objects. Submission published under a 24 month embargo labeled 'Closed Access', the embargo will last until 2018-12-01 The student, Naveen Kumar Uppalapati, accepted the attached license on 2016-12-06 at 09:16. The student, Naveen Kumar Uppalapati, submitted this Thesis for approval on 2016-12-06 at 09:27. This Thesis was approved for publication on 2016-12-06 at 14:34. DSpace SAF Submission Ingestion Package generated from Vireo submission #10442 on 2017-02-28 at 14:43:14 Made available in DSpace on 2017-03-01T17:02:04Z (GMT). No. of bitstreams: 2 UPPALAPATI-THESIS-2016.pdf: 3166451 bytes, checksum: 27f1b0c4f550c76f9cb568d7a5cebed0 (MD5) LICENSE.txt: 4220 bytes, checksum: d3f01dc433fef114ba8091145c45a163 (MD5) Previous issue date: 2016-12-06 Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:02:22Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:03:32Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:05:02Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Embargo set by: Seth Robbins for item 98729 Lift date: 2019-03-01T17:06:55Z Reason: Author requested closed access (OA after 2yrs) in Vireo ETD system Limited Restriction Lifted for Item 98729 on 2019-03-02T10:15:27Z. application/pdf http://hdl.handle.net/2142/95613 en Copyright 2016 Naveen Kumar Uppalapati Soft robots Soft Grippers Cosserat beams Bio-inspired Robots Design and analysis of a soft spiral gripper text text Industrial&Enterprise Sys Eng Systems & Entrepreneurial Engr University of Illinois at Urbana-Champaign Thesis M.S.