Passively activated prehensile digit for a robotic end effector

Details Passively activated prehensile digit for a robotic end effector Passively activated prehensile digit for a robotic end effector

1986-10-21

1988-09-13

Marbert, James B.

Handling: hand and hoist-line implements

Hook, hoistline, or grab type

Locking device

294902, 269267, B65G 1746, B65G 3500

Patent

active

047704551

ABSTRACT:
A common hydraulic reservoir holds one or more rows of slidable pistons or "fingers" in a base, or "hand". The individual fingers in each row expose graduated cross-sectional fluid application areas to the hydraulic fluid in the reservoir, with the smallest fluid application area in the center of the row and graduating to progressive larger fluid areas towards both ends of each row. The fingers are elongated pistons. Exposed outer ends of each piston extending away from the reservoir, house a transverse pad to contact an object to be held. The transverse pads are universally ball-joint and spring-center mounted in a longitudinally located opening at the outer tapered end of each finger. Simple and effective capacitance metering in the reservoir is provided for each finger.

REFERENCES:
patent: 2882771 (1959-04-01), Blazek
patent: 3908318 (1975-09-01), Wallin
patent: 4284267 (1981-08-01), Marben
patent: 4558911 (1985-12-01), Ruoff
patent: 4609220 (1986-09-01), Scott
patent: 4653793 (1987-03-01), Guinot et al.
IBM Technical Disclosure Bulletin, vol. 19, No. 6, Nov. 1976, pp. 2121-2122.
Popular Science, Oct. 1985, p. 16.

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