Finger module design based on dual-mode twisting actuation for explosive ordnance disposal gripper

In this paper, a gripper for explosive ordnance disposal manipulator is designed to carry 60 mm cannonball. For compact and light design, underactuated system based on dual-mode twisting actuation is adopted. The dual-mode twisting actuation is a sort of transmission system which generates high speed and large actuating force depending on the operation modes. To achieve design goals, the gripper is designed and its specification is determined by parameter study and simulation. Additionally, through experiments, utility of proposed gripper is verified by grasping target object successfully.