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A finger mechanism for adaptive end effectors.

Dubey, V. N. and Crowder, R. M., 2002. A finger mechanism for adaptive end effectors. In: ASME International Design Engineering Technical Conference, 29 September - 2 October 2002, Montreal, Canada, 995-1001.

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This paper presents design and analysis of a rigid link finger, which may be suitable for a number of adaptive end effectors. The design has evolved from an industrial need for a tele-operated system to be used in nuclear environments. The end effector is designed to assist repair work in nuclear reactors during retrieval operation, particularly for the purpose of grasping objects of various shape, size and mass. The work is based on the University of Southampton's Whole Arm Manipulator, which has a special design consideration for safety and flexibility. The paper discusses kinematic issues associated with the finger design, and to the end of the paper specifies the limits of finger operating parameters for implementing control law.

Item Type:Conference or Workshop Item (Paper)
Additional Information:Proceedings Of The ASME Design Engineering Technical Conference Volume: 5 B 2002
Uncontrolled Keywords:Adaptive Finger; End Effectors; Finger Design; Mechanism Analysis; Robotic Hand
Group:Faculty of Science & Technology
ID Code:10724
Deposited By: Dr Venky Dubey
Deposited On:16 Sep 2009 19:25
Last Modified:14 Mar 2022 13:24


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