Handling: hand and hoist-line implements – Hook – hoistline – or grab type – Locking device
Patent
1987-11-12
1988-11-08
Spar, Robert J.
Handling: hand and hoist-line implements
Hook, hoistline, or grab type
Locking device
294907, 901 36, 901 39, 901 46, B66C 100
Patent
active
047831073
ABSTRACT:
Proximity sensors are used to sense impending contact, i.e., a point of close approach, between a finger of a robot hand and an object. Each finger is equipped with force sensors so that finger touch force with the object can be measured and controlled. The hand is controlled by a dedicated microprocessor, which communicates with a robot arm controller through 8 digital input/output lines. A novel "bi-modal" control system uses information from the proximity sensors to control both solenoid (on/off) valves and a proportional servovalve which are alternatively switched into an operative mode in a pneumatic circuit which powers the pneumatic actuators of the hand. This control design achieves the two goals of rapid object acquisition and low interaction forces. Each finger of the hand is capable of implementing an acquisition strategy in which mislocated objects can be acquired.
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Parker Joey K.
Paul Frank W.
Clemson University
Doyle Jennifer L.
Spar Robert J.
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