Dextrous gripping in a hazardous environment: guidelines, fault tolerance and control

This paper is concerned with constructing an analytical framework and the generation of guidelines for designing a gripper system able to operate in a hazardous environment. Tasks to be performed in the hazardous environment, recommendations on gripper design and gripper configuration are given. The outcome is a proposal for a dextrous gripper consisting of three anthropomorphic fingers and an active palm. Sensor and actuator selection has been performed. The paper concludes with an investigation into the control aspects of the gripper