| dc.identifier.uri | http://hdl.handle.net/1951/55643 | |
| dc.identifier.uri | http://hdl.handle.net/11401/72692 | |
| dc.description.sponsorship | This work is sponsored by the Stony Brook University Graduate School in compliance with the requirements for completion of degree. | en_US |
| dc.format | Monograph | |
| dc.format.medium | Electronic Resource | en_US |
| dc.language.iso | en_US | |
| dc.publisher | The Graduate School, Stony Brook University: Stony Brook, NY. | |
| dc.type | Dissertation | |
| dcterms.abstract | Viscoelasticity is a phenomenon of time-dependent strain and/or stress in elastic solids. Various contact interfaces with anthropomorphic end-effectors and polymeric solids found in robots and manipulators are intrinsically viscoelastic. It is therefore important to model such behavior and to study the effects of such time-dependent strain and stress on the stability and sustainability of grasping and manipulation. Both theoretical modeling and experimental study are presented in this dissertation. In theoretical modeling, a new nonlinear latency model is proposed for the application of contact interface involving viscoelasticity in robotics. Latency model can describe well various features of viscoelastic materials, such as stress relaxation, creep, and strain stiffening. The theoretical modeling was supported by experiments and computational simulation. Experiments were conducted by applying displacement-based control to study the stress relaxation and force-based control to explore the creep phenomenon, respectively, in order to validate the proposed theory. The experimental results of viscoelastic responses were observed, and found to match well with the proposed model as well as simulation results. | |
| dcterms.available | 2012-05-15T18:07:06Z | |
| dcterms.available | 2015-04-24T14:53:15Z | |
| dcterms.contributor | Kao, Imin | en_US |
| dcterms.contributor | Robert V. Kukta | en_US |
| dcterms.contributor | Chad S. Korach | en_US |
| dcterms.contributor | Yu Zhou | en_US |
| dcterms.contributor | Makoto Kaneko. | en_US |
| dcterms.creator | TSAI, CHIA-HUNG Dylan | |
| dcterms.dateAccepted | 2012-05-15T18:07:06Z | |
| dcterms.dateAccepted | 2015-04-24T14:53:15Z | |
| dcterms.dateSubmitted | 2012-05-15T18:07:06Z | |
| dcterms.dateSubmitted | 2015-04-24T14:53:15Z | |
| dcterms.description | Department of Mechanical Engineering | en_US |
| dcterms.format | Monograph | |
| dcterms.format | Application/PDF | en_US |
| dcterms.identifier | TSAI_grad.sunysb_0771E_10306.pdf | en_US |
| dcterms.identifier | http://hdl.handle.net/1951/55643 | |
| dcterms.identifier | http://hdl.handle.net/11401/72692 | |
| dcterms.issued | 2010-12-01 | |
| dcterms.language | en_US | |
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Previous issue date: 1 | en |
| dcterms.provenance | Made available in DSpace on 2015-04-24T14:53:15Z (GMT). No. of bitstreams: 3
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TSAI_grad.sunysb_0771E_10306.pdf: 5419879 bytes, checksum: d45842a7a572ab7e286805d2d1e2f14d (MD5)
Previous issue date: 1 | en |
| dcterms.publisher | The Graduate School, Stony Brook University: Stony Brook, NY. | |
| dcterms.subject | Contact Modeling, Robotic Grasping/Manipulation, Sensing Interpretation, Viscoelasticity | |
| dcterms.subject | Mechanical Engineering | |
| dcterms.title | Nonlinear Modeling on Viscoelastic Contact Interface: Theoretical Study and Experimental Validation | |
| dcterms.type | Dissertation | |
