Mechanical fingers for dexterity and grasping

Details Mechanical fingers for dexterity and grasping Mechanical fingers for dexterity and grasping

1987-09-25

1989-09-12

Cherry, Johnny D.

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

294907, 901 15, 901 21, 901 36, 901 39, B25J 1508, B25J 1800

Patent

active

048653764

ABSTRACT:
Improved robotic fingers are disclosed. The present invention provides a novel three joint, two actuator robotic finger. The finger disclosed is self-contained, lighter and requires less computational overhead than designs requiring one actuator for each joint, while providing greater versatility than simple grippers. The fingers of the present invention are constructed using a series of pulleys and tendons to couple the motion of two joints. In a preferred embodiment, a novel tendon configuration is disclosed which provides human-like enclosure and grasping capabilities. Also, other useful tendon configurations are disclosed. Robotic hands comprised of a group of one or more of the fingers of the present invention and methods of utilizing them to manipulate objects are also disclosed.

REFERENCES:
patent: 3261223 (1966-07-01), Vertut
patent: 3335620 (1967-08-01), Vertut
patent: 3694021 (1972-09-01), Mullen
patent: 3866966 (1975-02-01), Skinner
patent: 4246661 (1981-01-01), Pinson
patent: 4283165 (1981-08-01), Vertut
patent: 4351553 (1982-09-01), Rovetta et al.
patent: 4600355 (1986-07-01), Johnson
patent: 4643473 (1987-02-01), Douglas

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