Mechanical design, operation and direction prediction of the AMADEUS gripper system

G. Robinson, J. B C Davies, E. Seaton

Research output: Contribution to journalArticle

6 Citations (Scopus)

Abstract

The mechanical design, construction, operation and initial performance of a prototype innovative dextrous underwater end effector are described. The three-fingered hydraulic device utilizes continuously flexible fingers to perform grasping and manipulation. Finger movements are produced by the elastic deformation of bellows elements due to internal pressure. A single degree of freedom knuckle joint at the base of each finger enables the device to be used across a wide range of object sizes. A comparison between theoretical and actual non-contact movements for this type of flexible finger is also included.

Original languageEnglish
Pages (from-to)455-470
Number of pages16
JournalInternational Journal of Systems Science
Volume29
Issue number5
DOIs
Publication statusPublished - 1998

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