Material or article handling – Vertically swinging load support – Grab
Patent
1986-06-09
1987-12-29
Spar, Robert J.
Material or article handling
Vertically swinging load support
Grab
414786, 364513, 318568, 901 34, 901 9, B25J 916
Patent
active
047157739
ABSTRACT:
An apparatus and method for translating an object held by at least two fingers of a robot hand to a predetermined position relative to a fixed point of the robot hand is disclosed. The apparatus comprises a linear potentiometer for sensing the position of each finger relative to the fixed point on the robot hand. A microcomputer identifies the finger at the greater distance from the predetermined position as the position-controlled finger, and identifies the other finger as the force-controlled finger. Pneumatic cylinders and valves impart movement to each finger. A pneumatic servovalve controls movement of the position-controlled finger according to the position of the position-controlled finger relative to the fixed point of the robot hand. In an alternative embodiment, the movement of the position-controlled finger is controlled according to both the position of the position-controlled finger and the position of the force-controlled finger. A pair of strain gages senses the force between the force-controlled finger and the object. Another pneumatic servovalve controls movement of the force-controlled finger according to the force sensed between the force-controlled finger and the object.
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Parker Joey K.
Paul Frank W.
Alexander Jay I.
Clemson University
Spar Robert J.
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