Gripper for truss structure assemblyThe 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.
Document ID
19920069080
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Kelley, Robert B. (NASA Headquarters Washington, DC United States)
Tsai, Jodi (NASA Headquarters Washington, DC United States)
Bethel, Jeff (NASA Headquarters Washington, DC United States)
Peiffer, John (Rensselaer Polytechnic Institute, Troy, NY, United States)
Date Acquired
August 15, 2013
Publication Date
January 1, 1991
Subject Category
Mechanical Engineering
Meeting Information
Meeting: Cooperative Intelligent Robotics in Space