A finger mechanism for adaptive end effectors
A finger mechanism for adaptive end effectors
This paper presents the design and analysis of a rigid link finger, which may be suitable for a number of adaptive end effectors. The design has evolved form an industrial need for a tele-operated system to be used in the nuclear environment. The end effector is designed to assist repair work in nuclear reactors during retrieval operations, particularly for grasping objects of various shape, size and mass. The work is based on the University of Southampton's Whole Arm Manipulator, which has some special design considerations for safety and flexibility. The paper discusses kinematic issues associated with finger design, and to the end of the paper specifies the limits of finger operating parameters for implementing control laws.
End effectors, Finger Design, Robotic Hands, Adaptive Finger, Mechanism Analysis
0791836037
437-437
Dubey, Venketesh
387e1652-7e2d-4b25-9541-d17b684170a2
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
2002
Dubey, Venketesh
387e1652-7e2d-4b25-9541-d17b684170a2
Crowder, Richard
ddeb646d-cc9e-487b-bd84-e1726d3ac023
Dubey, Venketesh and Crowder, Richard
(2002)
A finger mechanism for adaptive end effectors.
ASME 27th Biennial Mechanisms and Robotics Conference, Montreal.
29 Sep - 02 Oct 2002.
.
Record type:
Conference or Workshop Item
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Abstract
This paper presents the design and analysis of a rigid link finger, which may be suitable for a number of adaptive end effectors. The design has evolved form an industrial need for a tele-operated system to be used in the nuclear environment. The end effector is designed to assist repair work in nuclear reactors during retrieval operations, particularly for grasping objects of various shape, size and mass. The work is based on the University of Southampton's Whole Arm Manipulator, which has some special design considerations for safety and flexibility. The paper discusses kinematic issues associated with finger design, and to the end of the paper specifies the limits of finger operating parameters for implementing control laws.
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Published date: 2002
Additional Information:
Event Dates: September 29 - October 2 2002
Venue - Dates:
ASME 27th Biennial Mechanisms and Robotics Conference, Montreal, 2002-09-29 - 2002-10-02
Keywords:
End effectors, Finger Design, Robotic Hands, Adaptive Finger, Mechanism Analysis
Organisations:
Agents, Interactions & Complexity
Identifiers
Local EPrints ID: 256831
URI: http://eprints.soton.ac.uk/id/eprint/256831
ISBN: 0791836037
PURE UUID: 80732780-3e2c-4ee0-bd8d-f2cf079a76a6
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Date deposited: 25 Jun 2003
Last modified: 14 Mar 2024 05:49
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Contributors
Author:
Venketesh Dubey
Author:
Richard Crowder
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