Underwater end effector - ("UndEE") - CSL NTUA
grabcad
A small electric end effector prototype, with force control capabilities, designed for underwater use (~1.5m for >30min of continuous submersion) for control systems experiments.About 60mm opening width, about 15N gripping force (with corresponding DC motor/gearhead), about 300g weight. Features a ATmega32U4 MCU board, four FSR force-sensors, a 6-dof IMU, position sensing capabilities, an external camera and LED light source, a compliant mounting base.All non-electrical components can be 3D-printed, except for the main casing and its caps (CNC-machined) - if waterproofing is required.Designed on Inventor 2019/2020 in the context of a MSc thesis, in NTUA, Greece.
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