Force-controlled gripper with adaptive accommodation

Details Force-controlled gripper with adaptive accommodation Force-controlled gripper with adaptive accommodation

1984-07-23

1986-07-08

Cherry, Johnny D.

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

294 864, 901 31, 901 38, B25J 1510

Patent

active

045989427

ABSTRACT:
In a gripper device including a power frame of a motor 10, shaft 12, sun gear 14, planetary gear 16, gripper assembly shaft 18, gripper lever 20, gripper finger 22, a clutch 24 is interposed in the power train to each gripper finger and is controlled to provide a low force coupling transmittal when the fingers are moved in a position to contact the object 26 to be gripped, and after all fingers have contacted the object, the clutch provides for the transmittal of a relatively higher force adequate to permit handling the object without slipping.

REFERENCES:
patent: 3901547 (1975-08-01), Skinner
patent: 4179783 (1979-12-01), Inoyama et al.
patent: 4529237 (1985-07-01), Gupta et al.

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