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
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;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.614358
