Importance

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Abstract

A gripper assembly including a rotary motor and a linear motor disposed within the rotor housing is provided. The linear motor includes a longitudinally slideable push rod and a pair of oppositely moving fingers. Each of the fingers is pivotally attached adjacent an end of the longitudinally slideable push rod. The push rod is moveable upon actuation of the linear motor to cause the fingers to move symmetrically toward and away from each other. Upon actuation of the rotary motor, rotational movement of the longitudinally slideable push rod causes the fingers to synchronously rotate. These actions are monitored by the microprocessor through additional circuitry to monitor the electrical current, amperage, consumed for each pulse which indicated the mechanical resistance to the movement.

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First Claim