Snake Robot Gripper Module for Search and Rescue in Narrow Spaces
نویسندگان
چکیده
This letter presents a gripper module for snake-like robot to perform search and rescue tasks in narrow space. The proposed has three features: (1) It can accommodate the fingers inside its body. (2) that grip objects with irregular surfaces stably. (3) One of is equipped camera on fingertip To implement above features small, light, compact module, we propose novel design eight degrees freedom. joint configuration unique compared general-type gripper. A prototype been integrated into demonstrate capability performing collapsed environment. are experimentally verified: it light (0.4 kg), small (less than 68 mm diameter), powerful (grasping force = 2.48kgf).
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2022
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2022.3140812