Different gripper assemblies have been designed to function as the end
effecter of the manipulator arm of the ROV. These grippers can be grouped
into a parallel jaw or a three-finger variant. The grippers are made of
aluminium sections and are, therefore, lightweight.
The parallel jaw gripper has been developed using a four-bar mechanism
driven through a worm and worm wheel as well as a cam follower-based design.
The three-finger gripper has been realised using a screw drive as well as a
cam follower mechanism. The parallel gripper has attachments to hold
cylindrical, spherical objects, and a scooping device. These grippers have a
maximum gripping capability of 200 mm and can hold objects upto 20 kg.
Four-bar mechanism parallel jaw gripper
CAM-operated parallel jaw gripper