Methods and apparatus for mechanically intelligent grasping

Details Methods and apparatus for mechanically intelligent grasping Methods and apparatus for mechanically intelligent grasping

1988-08-31

1990-09-18

Focarino, Margaret A.

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

294111, 294907, 901 36, 901 39, 192 56R, B25J 1510, F16D 4321

Patent

active

049573209

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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"Hands, Mobility are Robot . . . ," Advanced Manufacturing Technology, Apr. 11, 1988, p. 8.
"Odetics Says Its Robot . . . ," High Technology Business, Nov., 1987, p. 12.
"Robot Hand Has Two Thumbs," Advanced Manufacturing Technology, Aug. 24, 1987, p. 1.
"Two-thumbed Robot Hand . . . ," Inside R & D, Aug. 19, 1987, p. 2.

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