Special-purpose multifingered robotic end-effectors

Conference · Mon Jan 01 00:00:00 EST 1990 · Transactions of the American Nuclear Society; (United States)

OSTI ID:6835318

Crowder, R M

A number of advanced multifingered robotic end-effectors have been developed recently in which the finger joints are powered from external actuators. Although this gives dexterous performance, there are considerable problems with power transmission, due to the use of flexible tendons between the external actuators and the individual finger joints. If a multifingered robotic end-effector is to be operated in a confined space, local actuation of the fingers needs to be fully considered, even if there is a reduction in hand dexterity over that of an externally mounted actuator system. The University of Southampton has developed a number of end-effectors that incorporate integral finger actuators and mechanisms, two examples of which are discussed in this paper.

• OSTI ID: 6835318
• Report Number(s): CONF-901101-; CODEN: TANSAO
• Journal Information: Transactions of the American Nuclear Society; (United States), Vol. 62; Conference: American Nuclear Society (ANS) winter meeting, Washington, DC (United States), 11-16 Nov 1990; ISSN 0003-018X
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
22 GENERAL STUDIES OF NUCLEAR REACTORS
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS
MANIPULATORS
FINGERS
NUCLEAR INDUSTRY
RADIATION PROTECTION
ROBOTS
CONTROL SYSTEMS
DESIGN
GEARS
GLOVEBOXES
GRABS
OCCUPATIONAL EXPOSURE
RADIATION DOSES
BODY
BODY AREAS
DOSES
EQUIPMENT
HANDS
INDUSTRY
LABORATORY EQUIPMENT
LIMBS
MACHINE PARTS
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420203* - Engineering- Handling Equipment & Procedures
990200 - Mathematics & Computers
220900 - Nuclear Reactor Technology- Reactor Safety
220200 - Nuclear Reactor Technology- Components & Accessories
054000 - Nuclear Fuels- Health & Safety
050900 - Nuclear Fuels- Transport
Handling
& Storage