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REFERENCES 1. Boubekri N., Chakraborty P. (2002), Robotic grasping: gripper designs, control methods and grasp configurations – a review of research, Integrated Manufacturing Systems , 13, 520–531. 2. Carbone G. (2013), Grasping in robotics , Springer-Verlag London. 3. Causey G. (2003), Guidelines for the design of robotic gripping systems, Assembly Automation , 23(1), 18–28. 4. Causey G.C., Quinn R.D. (1998), Gripper design guidelines for modular manufacturing, IEEE International Conference on Robotics and Automation , 2, 1453–1458. 5. Ceccarelli M

, 2006, (03): 72–75. 11. Liang, F.H., Yan, X.G., Zheng, W. Mechanical analysis of jacket pile gripper and choice of the number of hydraulic pressure vats . The Ocean Engineering, 2007, (01): 82–87. 12. Jiang, Y.C., Tian, Y.F., Yang, S.G., The skirt pile gripper design of jacket platform . China Offshore Platform, 2008, (05): 19–22+26. 13. Li, H.L., Yu, W.T., Wang, L.Q., et al. Experimental research on clamping block of underwater leveling equipment . China Offshore Oil and Gas, 2009, (01): 57–60. 14. Jiang, P.R., Fang, X.M. Analysis and experimental study grip