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van Overbeeke, Sander (author)An earlier study introduced a formula for determining the holding force of a toroidal hydrostat gripper when gripping an object of constant radius, considering a linear stress/strain relationship. However, beyond the holding force, understanding the grasping disturbance force exerted on the object due to the rolling behavior during grip...master thesis 2024
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Kuntz, Mark (author)This thesis presents the state-of-the art gripping literature and the implementation and extension of an existing Pseudo-Rigid Body Modelling (PRBM) method for modelling initially-curved compliant grippers out of which a circular object is extracted. From the existing literature, challenges are found in the design and evaluation of concepts of...master thesis 2024
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Kok, Wouter (author)In this master thesis, the development of an innovative gripper specifically designed for grasping the delicate peduncles of vine tomato trusses is presented. This research addresses a critical challenge in agricultural automation: efficiently and safely manipulating high-value crops without causing damage. The thesis begins with a comprehensive...master thesis 2024
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Zheng, L. (author), Hamaza, S. (author)Drones have been increasingly used in various domains, including ecological monitoring in forests. However, the endurance and noise of drones have limited their deployment to short flight missions above canopies. To address these limitations, we introduce ALBERO: a framework comprising a mechanical solution and an optimal planner to realise...journal article 2024
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Schoenmakers, Jeffrey (author)mart materials are already often used as actuator or sensors, as well in soft grippers as other fields. However, the application of thermoresponsive smart materials as actuator is still a potential field. As electroactive polymers and shape memory alloys are commonly used thermoresponsive smart materials for actuators in soft grippers, a novel...master thesis 2023
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Wielaard, Bram (author)This thesis describes the process of designing a visual effect to replace the needle indicator of a rattrapante complication. The mechanisms of the chronograph and rattrapante are explained as well as the importance of aesthetics in the luxury watchmaking industry. After establishing a method to determine a feasible design, the criteria that...master thesis 2023
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de Vries, Ellen (author)Suction grippers have the advantage to handle many different types and sizes of items, without being restricted by the dimensions of clamps to enclose an object and to handle objects more delicately. <br/>However, the challenge of attaching these grippers to irregularly-shaped and rough surfaces remains a persistent issue. Despite advancements...master thesis 2023
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Aydin, Güven (author)Treatment of prostate cancer can be done by performing brachytherapy, where radioactive seeds are transperineally implanted in the prostate via needles. A known problem during treatments with needles is the risk of targeting errors caused by the deviation of the needle from the planned path in the prostate. One of the main sources of this error...master thesis 2023
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van der Star, Anne (author)In this paper the first gripper that can grasp bunches of bananas is presented. Bunches of bananas are difficult to grasp by a mechanical gripper, as they vary in size and shape and are sensitive to damage caused by mechanical impact. In former research, single bananas have been grasped with pinching- or granular grippers. The gripper proposed...master thesis 2022
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Konijnenberg, Thom (author)During the transfer of calli in plant regeneration, the repetitive work of pick and placement of calli in new agar is still done by human operators. This process can be automated to eliminate labour-intensive work. The thesis focuses on the development of a robotic gripper to automate the transfer of calli. To be able to grip calli, first its...master thesis 2022
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Lipman, Lars (author)<b>Introduction </b>- Grasping unknown objects is an important ability for robots in logistic environments. While humans have an excellent understanding of how to grasp objects because of their visual perception and understanding of the 3D world, robotic grasping is still a challenge. Due to the fast-growing development of deep learning methods,...master thesis 2022
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Smit, Neil (author)Fin Ray Effect (FRE) grippers have proven versatile and effective in pick & place automation applications. However, spherical and lateral round objects are still a challenge for the state-of-the-art, as solutions are unstable when placing those objects off-centre from the longitudinal line. Resulting in large and heavy FRE gripper assemblies...master thesis 2022
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Elfferich, Rick (author)Fruit and vegetable production is increasing worldwide, and farmers currently face a tough challenge in finding enough agricultural workers. Automation of the labour-intensive task of crop harvesting could help fill in this gap between supply and demand. However, picking soft fruits is challenging, as they can be easily damaged if not carefully...master thesis 2022
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Friederich, Bart (author)This research proposes and validates a novel grasping principle to be able to set caging grasps in cluttered environments. A prototype is designed making use of manoeuvering fingers which propagate along the object surface and are covered with everting belts to minimize slip and thus friction forces on the object and environment. Using several...master thesis 2022
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Elfferich, J.F. (author), Dodou, D. (author), Della Santina, C. (author)Nowadays, harvesting delicate and high-value fruits, vegetables and edible fungi requires a large input of manual human labor. The relatively low wages and many health problems the workforce faces make this profession increasingly unpopular. Meanwhile, robotic systems that selectively harvest crops are being developed. Whilst the moving platform...review 2022
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Zhu, J. (author), Cherubini, Andrea (author), Dune, Claire (author), Navarro-Alarcon, David (author), Alambeigi, Farshid (author), Berenson, Dmitry (author), Ficuciello, Fanny (author), Harada, Kensuke (author), Kober, J. (author), Yuan, Wenzhen (author)Deformable object manipulation (DOM) is an emerging research problem in robotics. The ability to manipulate deformable objects endows robots with higher autonomy and promises new applications in the industrial, services, and health-care sectors. However, compared to rigid object manipulation, the manipulation of deformable objects is...journal article 2022
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Cleijpool, Bram (author)The detachment of a product from a suction cup gripper is a challenge that emerged in recent years in the high-speed case packing of packaged food. In this industry suction cups are used to temporarily attach a product to a case packing robot. The detachment of products from the suction cup gripper threatens throughput. In, some cases, the...master thesis 2021
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Heeringa, Willem (author)Introduction: This research aims to develop a gripper that is capable of handling deformable and delicate objects at high acceleration (≥10 G) using a contact-reactive grasping approach while moving. Commercial grippers are already suitable for handling various food products at high speed and acceleration when combined with a parallel...master thesis 2021
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Verhage, Fabian (author)The Netherlands has a severe shortage of care workers. The shortage is expected to increase in the coming years. Care-robots could provide a solution, by taking work out of the hands of the care workers. The potential utility of the care-robot is dependent on the functionality of the gripper. The goal of this study was to design and develop a...master thesis 2021
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van Tilburg, Floris (author)Suction based robotic actuators have potential for the bin-picking industry, but are currently not usable due the needed speed, accuracy and ability to handle novel and adversarial objects. An evaluation of the state of the art grasp pipeline developed by Mahler et al. [1] for detecting grasps on novel objects lead us to split the problem of...master thesis 2021