Gripper

The current gripper of SEAR was especially designed for the requirements of the SpaceBot Cup 2013. In other contests or in different exploration scenarios it might be necessary for SEAR to grab various shapes of objects. Therefore a universal gripper should be designed and constructed that can easily be plugged onto the manipulator of SEAR.

First the requirements for the new gripper had to be specified. The most important one was the universality of the gripper followed by many more requirements as costs, performance, time effort, weight complexity etc. Afterwards the initial situation including all strengths and weaknesses was analyzed and several new gripper concepts have been evaluated. After a detailed concept trade-off the Open Hand Model T42 of the Yale University was chosen as the new gripper for SEAR.

Gripper-Julia

Open Hand Model T42 of Yale University
[http://www.eng.yale.edu/grablab/openhand/images/model_t42_3.jpg]