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Proceedings Paper

Gripper for truss structure assembly
Author(s): Robert B. Kelley; Jodi Tsai; Jeff Bethel; John Peiffer
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Paper Abstract

The CIRSSE two-finger gripper is designed 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 gripper that is servoed in position or grasping force. The gripper also has a between fingertip light beam sensor. The major features of this new design are: high grasping force to weight ratio (25::1) and compactness (14 cm base-fingertip, 0.8 kilograms); low cost dedicated slave controller; and simple host-controller communications protocol to minimize command interpretation delay. Shared software functions between the host and the controller processor permit the host to select servo mode, servo gain-parameter values, and calibration offsets. Hidden primitive self-test, calibration and servo confidence functions are included.

Paper Details

Date Published: 1 February 1991
PDF: 9 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25409
Show Author Affiliations
Robert B. Kelley, Rensselaer Polytechnic Institute (United States)
Jodi Tsai, Rensselaer Polytechnic Institute (United States)
Jeff Bethel, Rensselaer Polytechnic Institute (United States)
John Peiffer, Rensselaer Polytechnic Institute (United States)


Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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