Regular Papers
International Journal of Control, Automation and Systems 2016; 14(5): 1322-1330
Published online July 27, 2016
https://doi.org/10.1007/s12555-014-0440-6
© The International Journal of Control, Automation, and Systems
Design of Modular Gripper for Explosive Ordinance Disposal Robot Manipulator Based on Modified Dual-Mode Twisting Actuation
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.
Keywords Dual-mode twisting actuation, EOD manipulator, gripper, SUGV.
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Regular Papers
International Journal of Control, Automation and Systems 2016; 14(5): 1322-1330
Published online October 1, 2016 https://doi.org/10.1007/s12555-014-0440-6
Copyright © The International Journal of Control, Automation, and Systems.
Design of Modular Gripper for Explosive Ordinance Disposal Robot Manipulator Based on Modified Dual-Mode Twisting Actuation
Ho Ju Lee, Jae-Kwan Ryu, Jongwon Kim, Young June Shin, Kyung-Soo Kim*, and Soohyun Kim
KAIST
Abstract
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.
Keywords: Dual-mode twisting actuation, EOD manipulator, gripper, SUGV.
Vol. 22, No. 10, pp. 2955~3252
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