Grasp force sensor for robotic hands

Details Grasp force sensor for robotic hands Grasp force sensor for robotic hands

1986-06-27

1989-04-11

Cherry, Johnny D.

Handling: hand and hoist-line implements

Grapple

Slideable jaws

294902, 294907, 901 33, 901 39, 901 46, B25J 1508, B25J 1902

Patent

active

048199788

ABSTRACT:
A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

REFERENCES:
patent: 3948093 (1976-04-01), Folchi et al.
patent: 4132318 (1979-01-01), Wang et al.
patent: 4447048 (1984-05-01), Fischer
patent: 4456293 (1984-06-01), Panissidi
patent: 4478089 (1984-10-01), Aviles et al.
patent: 4616511 (1986-10-01), Gindy et al.
IBM Technical Disclosure Bulletin, vol. 24, No. 10, Mar. 1982, "Combined Compliance Structure and Air Gauge Sensor", by Brennemann.

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