In this paper, the design and experimental evaluation of a three-fingered robotic gripper for underwater applications is presented. The gripper has some innovative features with respect to other devices known in the literature, concerning in particular the workspace, the kinematic capabilities, and the sensory equipment. The main design specifications are described, deriving from the particular tasks in which the gripper will be involved, and the proposed solutions discussed. Results obtained during real underwater experiments are provided as well, in order to demonstrate the capabilities of the gripper.
Mechatronic Design of a Three-Fingered Gripper for Underwater Applications / J. Bemfica Rodrigues; C. Melchiorri; L. Moriello; G. Palli; U. Scarcia; G. Vassura. - STAMPA. - (2013), pp. 307-312. (Intervento presentato al convegno 6th IFAC Symposium on Mechatronic Systems tenutosi a Zhejiang University, Hangzhou, China nel 10/04/2013) [10.3182/20130410-3-CN-2034.00080].
Mechatronic Design of a Three-Fingered Gripper for Underwater Applications
MELCHIORRI, CLAUDIO;MORIELLO, LORENZO;PALLI, GIANLUCA;SCARCIA, UMBERTO;VASSURA, GABRIELE
2013
Abstract
In this paper, the design and experimental evaluation of a three-fingered robotic gripper for underwater applications is presented. The gripper has some innovative features with respect to other devices known in the literature, concerning in particular the workspace, the kinematic capabilities, and the sensory equipment. The main design specifications are described, deriving from the particular tasks in which the gripper will be involved, and the proposed solutions discussed. Results obtained during real underwater experiments are provided as well, in order to demonstrate the capabilities of the gripper.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
