Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Patent
1989-12-28
1991-11-05
Focarino, Margaret A.
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
294106, 294907, 901 34, 901 46, 623 64, B66C 110, B25J 1502
Patent
active
050626736
ABSTRACT:
An articulated hand comprising a plurality of finger module structures each of which has one top end provided with an abutting member for contacting an object and the other end connected to a finger connecting member and has a plurality of articulates formed between the one and the other ends by combination of a plurality of link members and articulate turn-shafts; a plurality of motors provided at the other ends of the respective finger module structures integrally therewith; a power transmitting device for transmitting motor powers to the articulate turn-shaft and a hand structure connected to a manipulator. The finger modules are arranged in a manner so that the articulate shafts are driven independently of each other, and each of the link members is provided with sensors respectively for directly detecting a relative angle and relative torque between adjacent link members. Each of the articulate turn-shafts is provided with an angel-torque servo system, wherein deviation signals based on the relative angle and torque are processed. In the articulated hand, each of the motors is connected to a variable constant-current source to change its power through changing an instruction current value and values of motor revolution speed obtained from driving voltages of the motors are respectively fed back to the servo systems to thereby correct the instruction current values.
REFERENCES:
patent: 4643473 (1987-02-01), Douglas
patent: 4740126 (1988-04-01), Richter
patent: 4834761 (1989-05-01), Walters
patent: 4865376 (1989-09-01), Leaver et al.
patent: 4921293 (1990-05-01), Ruoff et al.
patent: 4957320 (1990-09-01), Ulrich
Matthew T. Mason et al., "Robot Hands and the Mechanics of Manipulation", 1985, pp. 150-167.
Focarino Margaret A.
Kabushiki Kaisha Toyota Chuo Kenkyusho
Kramer Dean J.
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