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L. Biagiotti, F. Lotti, C. Melchiorri, G. Vassura
"New Directions on Robot Hands Design for Space Applications"
Type Conference
Author(s) L. Biagiotti, F. Lotti, C. Melchiorri, G. Vassura
Title New Directions on Robot Hands Design for Space Applications
Editor IFAC Workshop on Automatic Control in Aerospace, S.Peterburg, Russia, June.
Keywords Space Robotics, Robotic Gripper, Dexterous Hands
Aim of this work is to discuss some possible solutions for the design of robotic hands/grippers for space manipulation. The paper first reviews possible alternative approaches for the design of general purpose robotic end-effectors. They can differ in kinematic architecture, sensory equipment, etc. and are solutions for different needs and different application scenarios (e.g. autonomous operation, telemanipulation). Then, three examples (which have been developed at the University of Bologna) are taken into account, namely a medium complexity 3-dof robotic gripper for autonomous tasks in IVA/EVA environments, an anthropomorphic gripper for tele-operated and autonomous operations, and finally a human-like robotic hand based on new design concepts (i.e. compliant mechanisms).
Document 7885.Document.pdf (907272 bytes)
Year 2004

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