Handling: hand and hoist-line implements – Grapple – Pivoted jaws
Patent
1994-06-07
1996-03-26
Kramer, Dean
Handling: hand and hoist-line implements
Grapple
Pivoted jaws
294111, 294907, 901 36, 901 39, B25J 1510
Patent
active
055014984
ABSTRACT:
An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.
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Kramer Dean
The Trustees of the University of Pennsylvania
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