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Communication

Gripper Control Design and Simulation for OpenROV Submarine Robot

1
Department of Applied Computing, Michigan Technological University, Houghton, MI 49931, USA
2
Department of Mechatronics Engineering, German Jordanian University, Amman 11180, Jordan
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Department of Electrical and Computer Engineering, Michigan Technological University, Houghton, MI 49931, USA
*
Author to whom correspondence should be addressed.
Academic Editor: Gianluca Rizzello
Actuators 2021, 10(10), 252; https://doi.org/10.3390/act10100252
Received: 30 August 2021 / Revised: 19 September 2021 / Accepted: 23 September 2021 / Published: 29 September 2021
(This article belongs to the Section Actuators for Robotics)
In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system. View Full-Text
Keywords: gripper; robotics; ROV; multi-fingered gripper; robotics; ROV; multi-fingered
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MDPI and ACS Style

Rawashdeh, N.; Abu-Alrub, N. Gripper Control Design and Simulation for OpenROV Submarine Robot. Actuators 2021, 10, 252. https://doi.org/10.3390/act10100252

AMA Style

Rawashdeh N, Abu-Alrub N. Gripper Control Design and Simulation for OpenROV Submarine Robot. Actuators. 2021; 10(10):252. https://doi.org/10.3390/act10100252

Chicago/Turabian Style

Rawashdeh, Nathir, and Nader Abu-Alrub. 2021. "Gripper Control Design and Simulation for OpenROV Submarine Robot" Actuators 10, no. 10: 252. https://doi.org/10.3390/act10100252

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