Handling: hand and hoist-line implements – Grapple – Fixed and moveable jaw
Patent
1993-05-07
1994-07-12
Kramer, Dean J.
Handling: hand and hoist-line implements
Grapple
Fixed and moveable jaw
294106, 901 39, B25J 1510
Patent
active
053282248
ABSTRACT:
A robotic grasping manipulator includes a support base, a fixed elongate index finger which extends forwardly a certain distance from the base and then curves upwardly to terminate in a tip, and a two-degree of freedom elongate thumb pivotally attached at a proximal end to the base to extend generally forwardly therefrom to terminate in a distal end which may be moved vertically and laterally with respect to the fixed finger to thereby enable holding objects between the finger and thumb. Also included is a moveable elongate finger pivotally attached at a proximal end to the base to extend forwardly a certain distance and then upwardly, generally alongside the index finger, to terminate in a distal end. The distal end may be moved laterally away from and toward the index finger to thereby enable holding objects between the two fingers. With the two-degree of freedom movement of the thumb and the one-degree of freedom movement of the moveable finger, a variety of different shaped objects may be grasped and held between the two fingers and thumb.
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patent: 3866966 (1975-02-01), Skinner, II
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patent: 4946380 (1990-08-01), Lee
patent: 4957320 (1990-09-01), Ulrich
Jacobsen Stephen C.
Smith Fraser
Kramer Dean J.
University of Utah Research Foundation
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