Development of an articulated gripper for an underwater ROV

Kazuya Yoshida; Satoko Abiko; Jeffrey M. Ota

doi:10.1299/kikaic.68.3373

Development of an articulated gripper for an underwater ROV

Kazuya Yoshida, Satoko Abiko, Jeffrey M. Ota

ENG - Aerospace Engineering

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

Abstract

An adaptive multifinger gripper system was developed for underwater ROV. The system, named The Artifact 'K' apture Operator (TAKO) gripper, provides soft and adaptive envelope grasp with three articulated fingers. Each finger comprises five segments and performs like an octopus tentacle. The gripper has 15 segments in total, yet they are coordinately driven by one single motor and tendon mechanisms. This design allows the gripper system compact, light weight, and less expensive. The TAKO gripper is mounted on an underwater ROV named Triton that is a research oriented test platform developed at Santa Clara University. The TAKO-Triton integrated test was carried out successfully for the artifact pick up operation from the bottom of the water.

Original language	English
Pages (from-to)	3373-3380
Number of pages	8
Journal	Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume	68
Issue number	11
DOIs	https://doi.org/10.1299/kikaic.68.3373
Publication status	Published - 2002 Nov

Keywords

Envelope Grasp
Magnet Coupling
Soft Gripper
Tendon Drive
Water Proofing

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.68.3373

Cite this

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abstract = "An adaptive multifinger gripper system was developed for underwater ROV. The system, named The Artifact 'K' apture Operator (TAKO) gripper, provides soft and adaptive envelope grasp with three articulated fingers. Each finger comprises five segments and performs like an octopus tentacle. The gripper has 15 segments in total, yet they are coordinately driven by one single motor and tendon mechanisms. This design allows the gripper system compact, light weight, and less expensive. The TAKO gripper is mounted on an underwater ROV named Triton that is a research oriented test platform developed at Santa Clara University. The TAKO-Triton integrated test was carried out successfully for the artifact pick up operation from the bottom of the water.",

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AB - An adaptive multifinger gripper system was developed for underwater ROV. The system, named The Artifact 'K' apture Operator (TAKO) gripper, provides soft and adaptive envelope grasp with three articulated fingers. Each finger comprises five segments and performs like an octopus tentacle. The gripper has 15 segments in total, yet they are coordinately driven by one single motor and tendon mechanisms. This design allows the gripper system compact, light weight, and less expensive. The TAKO gripper is mounted on an underwater ROV named Triton that is a research oriented test platform developed at Santa Clara University. The TAKO-Triton integrated test was carried out successfully for the artifact pick up operation from the bottom of the water.

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Development of an articulated gripper for an underwater ROV

Abstract

Keywords

ASJC Scopus subject areas

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