G. Robinson et al., MECHANICAL DESIGN, OPERATION AND DIRECTION PREDICTION OF THE AMADEUS GRIPPER SYSTEM, International Journal of Systems Science, 29(5), 1998, pp. 455-470
Citations number
40
Categorie Soggetti
Computer Science Theory & Methods","Operatione Research & Management Science","Computer Science Theory & Methods","Operatione Research & Management Science","Robotics & Automatic Control
The mechanical design, construction, operation and initial performance
of a prototype innovative dextrous underwater end effector are descri
bed. The three-fingered hydraulic device utilizes continuously flexibl
e fingers to perform grasping and manipulation. Finger movements are p
roduced by the elastic deformation of bellows elements due to internal
pressure. A single degree of freedom knuckle joint at the base of eac
h finger enables the device to be used across a wide range of object s
izes. A comparison between theoretical and actual non-contact movement
s for this type of flexible finger is also included.