The aim of this paper is that of summarizing the experience of design and realization of a `home-made' robotic finger based on some non-conventional ideas. The device which is presented in this paper is the exploitation of some concepts expressed in the context of an EC funded project called AMADEUS: the `elephant-trunk' principle is the basis and it is used for the implementation of an underwater gripper that we actuated by mean of high bandwidth electro-hydraulic devices working with oil at low pressure. The whole system is then controlled by a sliding mode based technique. The special manipulator based on the use of such fingers as described in this paper is devoted to delicate deep underwater sampling operations.
A Summary of the Design and Realization of a Robotic Finger based on Innovative Concepts
COCCOLI, MAURO
1999-01-01
Abstract
The aim of this paper is that of summarizing the experience of design and realization of a `home-made' robotic finger based on some non-conventional ideas. The device which is presented in this paper is the exploitation of some concepts expressed in the context of an EC funded project called AMADEUS: the `elephant-trunk' principle is the basis and it is used for the implementation of an underwater gripper that we actuated by mean of high bandwidth electro-hydraulic devices working with oil at low pressure. The whole system is then controlled by a sliding mode based technique. The special manipulator based on the use of such fingers as described in this paper is devoted to delicate deep underwater sampling operations.
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