DocumentCode
3215448
Title
Development of a dextrous gripper for nuclear applications
Author
Dutta, A. ; Muzumdar, G.R. ; Shirwalkar, V.T. ; Jayaraj, K. ; Venkatesh, D. ; Ramakumar, M.S.
Author_Institution
Div. of Remote Handling & Robotics, Bhabha Atomic Res. Centre, Mumbai, India
Volume
2
fYear
1997
fDate
20-25 Apr 1997
Firstpage
1536
Abstract
The need for dextrous manipulation arises when the physical dimensions and mechanical properties of the materials to be handled may not be known precisely. For such applications the gripper should be able to control the position of its finger or the force which it exerts on the object, and also be able to detect slip and take corrective action. This paper describes certain aspects of design involved and experiments carried out using a dextrous gripper which is being developed for nuclear applications
Keywords
force control; force measurement; industrial manipulators; materials handling; piezoelectric devices; position control; radioactive waste; strain gauges; telerobotics; dextrous gripper; nuclear applications; nuclear industry; slip detection; Fingers; Force control; Grippers; Humans; Mechanical factors; Object detection; Robot sensing systems; Rubber; Service robots; Skin;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location
Albuquerque, NM
Print_ISBN
0-7803-3612-7
Type
conf
DOI
10.1109/ROBOT.1997.614358
Filename
614358
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