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Title: Special-purpose multifingered robotic end-effectors

Abstract

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.

Authors:
Publication Date:
OSTI Identifier:
6835318
Report Number(s):
CONF-901101-
Journal ID: ISSN 0003-018X; CODEN: TANSAO
Resource Type:
Conference
Journal Name:
Transactions of the American Nuclear Society; (United States)
Additional Journal Information:
Journal Volume: 62; Conference: American Nuclear Society (ANS) winter meeting, Washington, DC (United States), 11-16 Nov 1990; Journal ID: ISSN 0003-018X
Country of Publication:
United States
Language:
English
Subject:
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

Citation Formats

Crowder, R M. Special-purpose multifingered robotic end-effectors. United States: N. p., 1990. Web.
Crowder, R M. Special-purpose multifingered robotic end-effectors. United States.
Crowder, R M. Mon . "Special-purpose multifingered robotic end-effectors". United States.
@article{osti_6835318,
title = {Special-purpose multifingered robotic end-effectors},
author = {Crowder, R M},
abstractNote = {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.},
doi = {},
journal = {Transactions of the American Nuclear Society; (United States)},
issn = {0003-018X},
number = ,
volume = 62,
place = {United States},
year = {1990},
month = {1}
}

Conference:
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