Mechatronic Design of a Three-Fingered Gripper for Underwater Applications*

In this paper, the design and experimental evaluation of a three-fingered robotic gripper for underwater applications is presented. The gripper has some innovative features with respect to other devices known in the literature, concerning in particular the workspace, the kinematic capabilities, and the sensory equipment. The main design specifications are described, deriving from the particular tasks in which the gripper will be involved, and the proposed solutions discussed. Results obtained during real underwater experiments are provided as well, in order to demonstrate the capabilities of the gripper.