Design of modular gripper for explosive ordinance disposal robot manipulator based on modified dual-mode twisting actuation
| Autor: | Jae-Kwan Ryu, Kyung-Soo Kim, Jong-Won Kim, Soohyun Kim, Ho Ju Lee, Young June Shin |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0301 basic medicine
0209 industrial biotechnology Engineering Explosive material business.industry 030106 microbiology GRASP Robotics 02 engineering and technology Mechatronics Modular design Computer Science Applications Computer Science::Robotics Mechanism (engineering) 03 medical and health sciences 020901 industrial engineering & automation Transmission (telecommunications) Control and Systems Engineering Control theory Artificial intelligence XM1216 Small Unmanned Ground Vehicle business |
| Zdroj: | International Journal of Control, Automation and Systems. 14:1322-1330 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-014-0440-6 |
| Popis: | In this paper, a modular gripper is newly designed for explosive ordnance disposal manipulators. For delicate and powerful grasp, the modular gripper is designed based on modified dual-mode twisting actuation. The dual-mode twisting actuation is a kind of transmission mechanism which generates high speed and large actuating force depending on the operation modes. For maximizing the output force in limited conditions, several design parameters are defined and analyzed. Furthermore, experiments are performed to verify high performance of the developed gripper. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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