A summary of the design and realization of a robotic finger based on innovative concepts

Author

Bartolini, G. ; Coccoli, M.

Author_Institution

Dept. of Electr. & Electron. Eng., Cagliari Univ., Italy

fYear

1999

fDate

1999

Firstpage

416

Lastpage

421

Abstract

The aim of the paper is that of summarizing the experience of design and realization of a “home-made” robotic finger based on some unconventional ideas. The device which is presented is the exploitation of some concepts expressed in the context of an EC funded project called AMADEUS: the “elephant-trunk” principle is the basis and it is used for the implementation of an underwater gripper that we actuated by means of high bandwidth electro-hydraulic devices working with oil at low pressure. The whole system is then controlled by a sliding mode based technique. The special manipulator based on the use of such fingers as described in this paper is devoted to delicate deep underwater sampling operations

Keywords

control system analysis; control system synthesis; dexterous manipulators; electrohydraulic control equipment; variable structure systems; AMADEUS; deep underwater sampling operations; elephant-trunk principle; high bandwidth electro-hydraulic devices; robotic finger; sliding mode based technique; underwater gripper; Bandwidth; Control systems; Fingers; Grippers; Humans; Manipulators; Orbital robotics; Robots; Sampling methods; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on

Conference_Location

Atlanta, GA

Print_ISBN

0-7803-5038-3

Type

conf

DOI

10.1109/AIM.1999.803205

Filename

803205