MECHANICAL DESIGN, OPERATION AND DIRECTION PREDICTION OF THE AMADEUS GRIPPER SYSTEM

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.