Delmia is a brand of Dassault Systèmes Company that is specialized in ergonomic testing of industrial systems by using a virtual mannequin. Several projects have been defined to automate the positioning of the mannequin. This thesis focusses on the study of grasp quality measures. The objective is to have the same grasps rank between the one given by grasp quality measures and the one given by a human being.
Two grasp quality measures have been tested. The first one measures the stability of the grasp, the second one measures the ability of the grasp to use the object. This quality measure has been used on several grasps on five different objects commonly used on work space design.
First, the variation of the quality measures values as a function of the grasp has been studied. Secondly, the influence of some parameters on the measures has been studied: namely the coefficient of friction, the maximum forces exerted by the phalanx as well as the position of the center of mass of the object.
The results found in or study give to the grasp quality measure its unique performance. It is a promising result for future studies which measure the quality of a grasp like a human do.
| Date | 12 Sept 2017 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Rachid Aissaoui (Supervisor) & Nicola Hagemeister (Co-supervisor) |
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Bourret, Q. (Author),
Aissaoui (Supervisor) &
Hagemeister (Co-supervisor),
12 Sept 2017Student thesis: Master's thesis › Master in Engineering: Automated Manufacturing Engineering