Handling: hand and hoist-line implements – Grapple – Slideable jaws
Patent
1983-12-06
1986-04-01
Cherry, Johnny D.
Handling: hand and hoist-line implements
Grapple
Slideable jaws
294907, 901 33, 901 38, 901 46, B25J 1508, B25J 1902
Patent
active
045793808
ABSTRACT:
A light weight servo controlled robot gripper is disclosed. A plastic body houses one or more threaded drive shafts which are powered by a direct current motor. Attached to the shafts are finger mounting blocks which support removable fingers and which can be driven both closer to and further away from a fixed point by the motor. Integral with at least one mounting block is a force transducer which monitors the load exerted on the finger through a pivot and lever action of a mounting bracket provided adjacent to the load cell. Since the transducer is in the block rather than the fingertip, fingers are readily interchangable without reinstrumentation. A limit switch, located above one of the finger mounting blocks, is used to determine coarse finger position, and an optical shaft encoder provides precise position information allowing the gripper to be utilized for a variety of position as well as force servoing tasks.
REFERENCES:
patent: 1811299 (1931-06-01), Brockhaus
patent: 2698764 (1955-01-01), Holland
patent: 2959445 (1960-11-01), Breslav
patent: 3261479 (1966-07-01), Baker et al.
patent: 3449008 (1969-06-01), Colechia
patent: 3904234 (1975-09-01), Hill et al.
patent: 4423998 (1984-01-01), Inaba et al.
patent: 4479673 (1984-10-01), Inaba et al.
IBM Technical Disclosure Bulletin, vol. 23, No. 11, Apr. 1981, "Linear Robotic Gripper" by Cummins et al.
Mutschler Thomas A.
Weiss Lee E.
Zaremsky Mark
Carnegie-Mellon University
Cherry Johnny D.
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