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 language | English |
|---|---|
| Pages (from-to) | 455-470 |
| Number of pages | 16 |
| Journal | International Journal of Systems Science |
| Volume | 29 |
| Issue number | 5 |
| DOIs | |
| Publication status | Published - 1998 |