Design and implementation of 3-DOF gripper for maintenances tasks in EAST vacuum vessel

The dedicated gripper has some creative features with reference to other devices known in the industrial application, relating to particular the environment, the workspace, and the sensory equipment. In this paper, the main design specifications are described. The proposed choices made on the mechanics, the electronics, the control system and the joint motion control were discussed. Integration adaptation and experimental evaluation of the gripper has been provided to demonstrate the feasibilities of the gripper. Some optimizations that will be applied in the next version of the gripper are being considered.