Underactuated gripper design for the assembly of infrastructure in space

Niklas Alexander Mulsow; Peter Kampmann

In: Proceedings of the 14th International Symposium on Artificial Intelligence. International Symposium on Artificial Intelligence, Robotics and Automation in Space (iSAIRAS-2018), 14th, June 4-7, Madrid, Spain, ESA, 2018.


This paper presents the development of a concept for an adjusted self-adaptive gripper for variable manipulation tasks. Its specifications are derived from the assembly and installation of infrastructure for space applications by humans and robots working either autonomously or in collaboration. One of the core topics of the paper is the development of the kinematic for an under actuated finger, based on previous works on the selfadaptive SAmPlInG gripper system [5]. Furthermore, a suitable sensor selection for the manipulation tasks as well as their integration is presented.


Weitere Links

N_Mulsow_Gripper_iSAIRAS2018.pdf (pdf, 3 MB )

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence