Boots – shoes – and leggings
Patent
1983-12-28
1986-11-04
Smith, Jerry
Boots, shoes, and leggings
901 31, 901 33, 901 38, 414730, B25J 1500, B25J 1502, B66C 100
Patent
active
046213317
ABSTRACT:
A manipulator having a grasping mechanism for grasping an object and an arm mechanism for lifting the grasped object, is disclosed. A weight detector is provided which detects a force that the top of the arm mechanism receives in the gravitational direction when the grasped object is being lifted. In order to find the minimum grasping force sufficient to lift the object, a grasp detector is provided for detecting, from the output of the weight detector, that the object cannot be lifted up with the present grasping force and a desired grasping force selector for selecting successively a desired value of grasping force starting from a predetermined minimum desired value until it is detected that the object is lifted. A grasping force control circuit controls the grasping force to the selected desired value.
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Proceedings of the 4th International Symposium on Industrial Robots (Nov. 1974), M. Ueda et al, "Sensors and Systems Necessary for Industrial Robots in the Near Future", pp. 79-88.
Automatica, vol. 11, pp. 567-570, Pergamon Press, 1975, "Multifunctional Terminal Device with Adaptive Grasping Force".
Grossman Jon D.
Smith Jerry
Tokyo Shibaura Denki Kabushiki Kaisha
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