Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Patent
1989-06-20
1992-03-03
Spar, Robert J.
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
74479, 254278, 414729, 623 24, 623 64, 901 21, 901 38, B25J 1510
Patent
active
050926462
ABSTRACT:
An improved double capstan drive allows mechanical amplification for increased power output from stepper motors, servo motors, and other control devices. Tensile members are attached to loads, wrapped around two continuously driven capstan drums, and attach to the stepper motors. The stepper motors, when energized, supply tailing forces to the tensile members which then engage frictionally on the capstan drums. Amplification of forces is achieved. Each wrap provides for slightly less than 2 times amplification of the tailing force with no upper limit to the number of wraps. Elastic bands attach to each wrap of the tensile members approximately midway between the two drums to provide for immediate and responsive release when stepper motors deenergize or reverse direction. Grooves or rings on the periphery of the drums provide tracks for wrapping the tensile member. An embodiment of the present device is used for immediately responsive control of a plurality of articulated digits comprising an analog of a human hand. The amplified tailing forces drive independently selectable digits towards and to a closed contracted position. The improved drive permits multiple tensile members to be driven simultaneously and held in desired positions, without affecting other digits manipulated by the same drive. The mechanical hand can be used as a robotic gripping device or as a fingerspelling device for use by the deaf-blind.
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Spar Robert J.
Underwood Donald W.
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