Gripper for truss structure assembly

Robert B. Kelley; Jodi Tsai; Jeff Bethel; John Peiffer

doi:10.1117/12.25409

1 February 1991 Gripper for truss structure assembly

Robert B. Kelley, Jodi Tsai, Jeff Bethel, John Peiffer

Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25409
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States

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.

Citation Download Citation

Robert B. Kelley, Jodi Tsai, Jeff Bethel, and John Peiffer "Gripper for truss structure assembly", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25409

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