Passive self adapting end-effectors for blind grappling on mars soil

The emphasis in placing intelligence on the control of robot arms and manipulators for high performance gripping that involves vision and other dimensional and proximity sensors plus active multi-axial movements, has resulted in complexity that would be counter productive in circumstances where reliability and timeless are of the utmost importance. This paper describes the alternative approach to design an end-effector that adapts to the shape of the object to be grasped in a passive way. A study of the shapes to be grasped has consolidated the adaptation to a few basic force balance rotation of the claws on the end-effector. The result simplifies the requirement for the robot arm and hence an increase in reliability. The philosophy is illustrated by the design of an end-effector for rock sampling on Mars to grapple individual rocks with high confidence and minimum amount of intelligence and agility required for the robot arm. The robot arm only requires the area of the image and its centre of gravity for guidance while the force balance rotation of the end-effector will mould it to the shape of the rock for secure holding.