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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
     

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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.
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  • Review on Grippers Used in Remote Handling Applications

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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