A generic configuration of a compact dexterous and self-contained end-effector for mobile robotic platforms

This paper presents a new design of a compact end-effector for mobile robotic platforms that provides dexterous heavy duty gripping and handling of tasks by means of on-board manipulator arms. The merit of the proposed work lies in the novel concept we adopted in combining dexterity with strength and speed in a compact, self-contained and generic structure. The generic aspect of the design approach facilitates the implementation of this robotic end-effector on various manipulators with minor modifications to the overall robot structure. We discuss design layouts, capabilities and implementation aspects on manipulator arms of mobile robotic platforms.