Modular dexterous hand

Details Modular dexterous hand Modular dexterous hand

1990-02-02

1991-10-01

Focarino, Margaret A.

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

623 57, 901 38, 901 39, 901 45, B25J 1510, B25J 1500

Patent

active

050527363

ABSTRACT:
A modular dexterous grasping hand comprises three rotatable fingers mounted on the mounting plate of a Stewart platform for rotation about parallel axes extending perpendicular to the mounting plate. The fingers have a generally L shape so that the grasping elements at the distal ends of the fingers are spaced from the rotational axes. The grasping elements can thus be positioned along the arcs of circles centered on the rotational axes, and so form grasping triangles of variable shapes and sizes. The fingers are independently driven by motors mounted to the mounting plate. Positional encoders and pressure sensors may be included in the motor drive control system.

REFERENCES:
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patent: 3866966 (1975-02-01), Skinner
patent: 3911981 (1975-10-01), Tucek
patent: 4351553 (1982-09-01), Rovetta et al.
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patent: 4828276 (1989-05-01), Link et al.
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patent: 4850631 (1989-07-01), Dotsko
patent: 4921293 (1990-05-01), Ruoff et al.
patent: 4955918 (1990-09-01), Lee
Barry Wright Corporation Bulletin R06-84 (1984); GTP-453C, Astek Gripper.

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