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Design of a gripper system for tendon-driven telemanipulators considering semi-automatic spring mechanism and eye-in-hand camera system

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Abstract

Tendon-driven mechanisms are adopted in remote handling manipulators to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. This study considered several approaches to the design of a gripper system for telemanipulators. According to the requirements of the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism was obtained, and kinematic influence coefficient analysis was performed to select the proper spring stiffness. The results showed that the tension force generated by the selected spring module is relatively constant in the gripper’s motion range; the spring module is advantageous for the semi-automatic gripper motion of servo-based tendon-driven manipulators performed in non-accessible experimental facilities which handles many types of sensitive measuring devices with hazardous materials. The motion performance of the proposed gripper module was comparatively verified with a commercialized gripper system which has similar specifications. Additionally, an eye-in-hand camera was also designed to obtain an active-view through a gripper for efficient teleoperation. This gripper system uses a modular-type camera head that can be changed remotely and a proper camera angle to achieve an intuitive view of the remote site. The designed camera system was tested in a large-scale confined cell facility remotely and verified the practical usability for remote handling manipulators.

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Authors and Affiliations

  1. Korea Atomic Energy Research Institute, Daejeon, 305-353, Korea

    Seungnam Yu, Jongkwang Lee, Byungsuk Park & Kiho Kim

Authors
  1. Seungnam Yu
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  2. Jongkwang Lee
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  3. Byungsuk Park
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  4. Kiho Kim
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Corresponding author

Correspondence to Seungnam Yu.

Additional information

Recommended by Associate Editor Kyoungchul Kong

Seung-Nam Yu graduated with the B.S., M.S. and Ph.D. degree in Mechanical Engineering, Hanyang University, Korea in 2004, 2006, and 2009, respectively. Since 2010, he has been working as a senior researcher of Korea Atomic Energy Research Institute (KAERI) in Korea. His research interests are in the design of telemanipulator systems and large-scale hot-cell facilities for hazardous materials handling. He is a member of the Korean Society of Mechanical Engineers (KSME).

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Yu, S., Lee, J., Park, B. et al. Design of a gripper system for tendon-driven telemanipulators considering semi-automatic spring mechanism and eye-in-hand camera system. J Mech Sci Technol 31, 1437–1446 (2017). https://doi.org/10.1007/s12206-017-0244-8

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  • DOI: https://doi.org/10.1007/s12206-017-0244-8

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