Rolling friction robot fingers

Details Rolling friction robot fingers Rolling friction robot fingers

1990-12-17

1992-06-09

Focarino, Margaret A.

Handling: hand and hoist-line implements

Grapple

Slideable jaws

294902, 901 39, B66C 162

Patent

active

051201011

ABSTRACT:
A low friction, object guidance, and gripping finger device for a robotic end effector on a robotic arm, having a pair of robotic fingers each having a finger shaft slideably located on a gripper housing attached to the end effector, each of the robotic fingers having a roller housing attached to the finger shaft. The roller housing has a ball-bearing mounted centering roller located at the center, and a pair of ball bearing mounted clamping rollers located on either side of the centering roller. The object has a recess to engage the centering roller and a number of seating ramps for engaging the clamping rollers. The centering roller acts to position and hold the object symmetrically about the centering roller with respect to the X axis and the clamping rollers act to position and hold the object with respect to the Y and Z axis.

REFERENCES:
patent: 1405325 (1922-01-01), Posch
patent: 3856292 (1974-12-01), Merola
patent: 4353537 (1982-10-01), Koufos
patent: 4475607 (1984-10-01), Haney
patent: 4505614 (1985-03-01), Anschutz
patent: 4546681 (1985-10-01), Owsen
patent: 4653793 (1987-03-01), Guinot et al.
"NASA's First Dexterous Space Robot", Aerospace America, Feb. 1990.

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