Justification for the development and design features of a six-fingered articulated gripper for humanitarian spot demining operations

Authors: Fedorov G.D.
Published in issue: #2(103)/2026
DOI:
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: humanitarian demining, robotic system, multi-fingered gripper, six-fingered gripper, articulated mechanism, unexploded ordnance (UXO), safety, robotics engineering, robotic manipulator, explosive hazards
Published: 26.03.2026

The paper addresses the urgent problem of humanitarian spot demining in post-conflict areas contaminated with various types of explosive hazards, including landmines and improvised explosive devices. An analysis of existing robotic gripper solutions are carried out, revealing their structural limitations when handling unstable munitions. The need for the development of a multi-fingered articulated gripper, structurally resembling the human hand, is substantiated. A six-fingered architecture is proposed to ensure uniform pressure distribution and enhanced safety during interaction with hazardous objects. The proposed design is compared with existing counterparts, and its key features are described, including the use of cycloidal gear drives. The results of the study can be applied in the development of robotic systems for the detection and disposal of explosive hazards in post-conflict environments.

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