Reactive robotic gripper

Details Reactive robotic gripper Reactive robotic gripper

1994-05-06

1996-07-30

Sircus, Brian

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318640, 901 32, 901 47, G05B 1912

Patent

active

055414850

ABSTRACT:
A parallel jaw robotic gripper and method for operating the gripper to grasp an unknown object are disclosed. The parallel jaw gripper of the present invention includes two pairs of light sources and sensors mounted on opposing extensions of each gripper. The light sources and detectors on each jaw are used to produce and detect the interruption of a pair of parallel light beams and/or a pair of crossed light beams by the object to be grasped. The gripper is rotated, translated, and/or closed in accordance with the detected status of the light beams in a simple table-driven manner by which the gripper is positioned to grasp the object with a stable grasping configuration. The gripper of the present invention can grasp an object of an unknown shape without disturbing or touching the object before grasping it.

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