Design of modular gripper for explosive ordinance disposal robot manipulator based on modified dual-mode twisting actuation

In this paper, a modular gripper is newly designed for explosive ordnance disposal manipulators. For delicate and powerful grasp, the modular gripper is designed based on modified dual-mode twisting actuation. The dual-mode twisting actuation is a kind of transmission mechanism which generates high speed and large actuating force depending on the operation modes. For maximizing the output force in limited conditions, several design parameters are defined and analyzed. Furthermore, experiments are performed to verify high performance of the developed gripper.