Manufacturing Technology Today

Open Access Open Access  Restricted Access Subscription Access
Open Access Open Access Open Access  Restricted Access Restricted Access Subscription Access

Review on Grippers Used in Remote Handling Applications


Affiliations
1 Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, India
2 Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, India
     

   Subscribe/Renew Journal


Various Remote Handling applications require a gripper for either a simple pick and place operation or a complex operation like the replacement of plasma-facing components inside a tokamak. Grippers require a high level of dexterity and performance. Presented review work deals with the review of the grippers used for the said operations along with a brief classification of grippers. The ability of the gripper to work under normal and challenging conditions is the main focus of the paper. This paper also discusses the grippers used in a vacuum environment, grippers used in fusion applications, Impactive grippers, adaptive grippers, and complaint grippers.

Keywords

Grippers, Remote Handling, Gripper Applications, Compliant Grippers.
User
Subscription Login to verify subscription
Notifications
Font Size

  • Amend, J.R., Brown, E., Rodenberg, N., Jaeger, H.M. & Lipson, H. (2012). Positive Pressure Universal Gripper Based on the Jamming of Granular Material. IEEE Transactions on Robotics. 28(2), 341-350.

  • Basson, C., Bright, G., & Walker, A.J. (2018). Testing flexible grippers for geometric and surface grasping conformity in reconfigurable assembly systems. South African Journal of Industrial Engineering. 29(1), 128-142. DOI: 10.7166/29-1-1874

  • Birglen, L. (2019). Design of a partially-coupled self-adaptive robotic finger optimized for collaborative robots. Autonomous Robots. 43(2), 523-538.

  • Crooks, W., O’Sullivan, M., Vukasin, G., Messner, W., & Rogers, C. (2016). Fin Ray Effect Inspired Soft Robotic Gripper: From the RoboSoft Grand Challenge toward Optimization. Frontiers in Robotics and AI, 3. DOI: 10.3389/frobt.2016.00070

  • Dutta, A., Muzumdar, G.R., Shirwalkar, V., Kutuvan, J., Venkatesh, D., & Ramakumar, M. (1997). Development of a dextrous gripper for nuclear applications. Proceedings of International Conference on Robotics and Automation, 1536-1540. 10.1109/ROBOT.1997.614358

  • Festo Multichoice Gripper (2015). Retrieved from Festo: https://www.festo.com/net/SupportPortal/Files/333986/Festo_Multi Choice Gripper_en.pdf

  • Fuster, A.M.G. (2015). Gripper design and development for a modular robot. The Technical University of Denmark, Department of Electrical Engineering.

  • Hassan, A., & Abomoharam, M. (2014). Design of a single DOF gripper based on the four-bar and slider-crank mechanism for educational purposes. Procedia CIRP. 21, 379-384.

  • Pan, H., Gao, X., Huang, J., Sun, H., Lin, X., Li, J., Jie, Y., Zang, Q., Song, Y., & Villedieu, E. (2018). Design and implementation of the 3-DOF gripper for maintenances tasks in the EAST vacuum vessel. Fusion Engineering and design. 127, 40-49.

  • Kakogawa, A., Nishimura, H., & Ma, S. (2016). Underactuated modular finger with pull-in mechanism for a robotic gripper. 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO). 556-561. Qingdao. 10.1109/ROBIO.2016.7866381

  • Ramondi, T. (1989). The jet experience with remote handling equipment and future prospects. Fusion Engineering and Design, 11(1-2), 197-208.

  • Raval, S., Gotewal, K.K., Stephen, M., & Patel, B. (2016). Design and Development of Remote Handling Gripper for Handling and Manipulation in Fusion Facilities. National Conference on thermal Fluid science and Tribology application. SVNIT, Surat. 395-402.

  • Rofle, A.C. (1999, September). Remote Handling JET experience (JET-P(99)28). Nuclear Energy, 38(5), 277-288.

  • Roy, D., Pandit, P., Chothe, P., & Atpadkar, V. (2018). Design, Dynamic Simulation & Test-run of the Indigenous Controller of a Multi-Gripper Revolute Robot by Minimizing System Trembling. 8 th National Conference on Wave Mechanics and Vibrations, NIT Rourkela. Rourkela.

  • Tai, K., El-Sayed, A. R., Shahriari, M., Biglarbegian, M., & Mahmud, S. (2016, June 1). State of the art robotic grippers and applications. Robotics. 5(2). https://doi.org/10.3390/robotics5020011


Abstract Views: 366

PDF Views: 0




  • Review on Grippers Used in Remote Handling Applications

Abstract Views: 366  |  PDF Views: 0

Authors

S. Shreyas Desai
Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, India
Krishan Kumar Gotewal
Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, India
M. Manoah Stephen
Remote Handling and Robotics Technology Development Division, Institute for Plasma Research, Gandhinagar, India
Jigar Suthar
Department of Mechanical Engineering, LDRP – Institute of Technology and Research, Gandhinagar, India

Abstract


Various Remote Handling applications require a gripper for either a simple pick and place operation or a complex operation like the replacement of plasma-facing components inside a tokamak. Grippers require a high level of dexterity and performance. Presented review work deals with the review of the grippers used for the said operations along with a brief classification of grippers. The ability of the gripper to work under normal and challenging conditions is the main focus of the paper. This paper also discusses the grippers used in a vacuum environment, grippers used in fusion applications, Impactive grippers, adaptive grippers, and complaint grippers.

Keywords


Grippers, Remote Handling, Gripper Applications, Compliant Grippers.

References