Abstract
The Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) has designed a general purpose gripper to be used with a 6-axis-wrist-mounted force-torque sensor as part of an experimental testbed for cooperative robotic manipulation. The gripper system consists of a dedicated controller and a pneumatic powered two-fingered gripper that is servoed in position or grasping force. The gripper has a between-fingertip-light-beam sensor; it is used to detect when a part is introduced between the fingers and provides an automatic grasp function. The major design features of the gripper system are: a 25-to-l grasping force-to-weight ratio; mechanical compactness of 14 cm base-fingertip length; an overall weight of 0.8 kilograms; a low cost, dedicated slave controller; and a simple host-controller communications protocol. Software functions are shared between the host and the controller processor. This permits the host to select specific servo modes, servo gain-parameter values, and calibration offsets. Hidden primitive self-test, calibration and servo confidence functions are also implemented.
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References
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© 1992 Springer Science+Business Media New York
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Kelley, R.B., Tsai, J., Bethel, J., Peiffer, J. (1992). CIRSSE General Purpose Gripper and Controller System. In: Desrochers, A.A. (eds) Intelligent Robotic Systems for Space Exploration. The Springer International Series in Engineering and Computer Science, vol 168. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3634-5_6
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DOI: https://doi.org/10.1007/978-1-4615-3634-5_6
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6616-4
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