Handling: hand and hoist-line implements – Grapple – Resilient jaws
Patent
1990-01-02
1991-09-10
Focarino, Margaret A.
Handling: hand and hoist-line implements
Grapple
Resilient jaws
294 88, 294907, 901 33, 901 47, B66C 142, B25J 1902
Patent
active
050467735
ABSTRACT:
A tactile micro-gripper is disclosed having a combined lever and spring linkage. The lever flexes at predetermined points and is coupled to the spring and to an actuator. The spring is of a parallelogram type, so that the ends remain parallel to one another when the spring is bent. When the actuator causes the lever to move transversely, the end of the spring is caused to move laterally in a parallel manner. A pair of lever and spring linkages are arranged together so that they cooperatively act together to manipulate a pair of fingers, which are attached to the ends of the springs, to grip and release objects. Tactile sensing is accomplished by means of a cantilever beam and an optical detection system disposed in the tip of the fingers.
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Focarino Margaret A.
Hewlett--Packard Company
Kramer Dean J.
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