Handling: hand and hoist-line implements – Grapple – Load shifting
Patent
1984-08-16
1987-03-31
Marbert, James B.
Handling: hand and hoist-line implements
Grapple
Load shifting
294 88, 294106, 294902, 414751, 901 31, 901 39, 901 79, B66C 146
Patent
active
046537937
ABSTRACT:
A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.
REFERENCES:
patent: 3061357 (1962-10-01), Wright
patent: 3901547 (1975-08-01), Skinner
patent: 4546681 (1985-10-01), Owsen
Bidaud Philippe
Guinot Jean-Claude
Lallemand Jean-Paul
Murguet Denis
Zeghloul Said
La Calhene Societe Anonyme
Marbert James B.
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