Robotic grasping apparatus

Details Robotic grasping apparatus Robotic grasping apparatus

1994-07-08

1996-12-31

Kramer, Dean

Handling: hand and hoist-line implements

Grapple

Pivoted jaws

294 88, 294902, 901 37, 901 39, B25J 1510

Patent

active

055886884

ABSTRACT:
A robotic grasping manipulator includes a support base, a pair of fingers disposed on the base which extend forwardly a certain distance therefrom, and a two-degree of freedom elongate thumb. The thumb is pivotally attached at a proximal end to the base to extend generally forwardly therefrom, and terminates in a distal end tip which may be moved vertically and laterally with respect to the fingers to thereby enable holding objects between one or both fingers and the thumb. The fingers are moveable in a plane toward or away from each other, and include tip sections which are pivotable downwardly in a direction generally normal to the plane of movement of the fingers. A unique linkage apparatus intercouples the fingers with the base such that a non-pivotal, back-and-forth-moving piston rod can be used to move the fingers. The fingers contain gripping structure including rigid, pointed protuberances interleaved with flexible, blunt protuberances which are longer than the rigid protuberances. With the two-degree of freedom movement of the thumb and the movement of the fingers and their tip sections, a variety of different shaped objects may be grasped and held between the two fingers and thumb.

REFERENCES:
patent: 3069761 (1962-12-01), Sommer
patent: 4332038 (1982-06-01), Freeland
patent: 4368913 (1983-01-01), Brockmann et al.
patent: 4377305 (1983-03-01), Horvath
patent: 4545723 (1985-10-01), Clark
patent: 4696503 (1987-09-01), Collodel
patent: 4824155 (1989-04-01), Jacobsen
patent: 4921293 (1990-05-01), Ruoff et al.
patent: 5217274 (1993-06-01), Iichuk

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