Force-controlled gripper with adaptive accommodation
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United States of America Patent
Stats
-
Jul 8, 1986
Grant Date -
N/A
app pub date -
Jul 23, 1984
filing date -
Jul 23, 1984
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
In a gripper device including a power frame of a motor 10, shaft 12, sun gear 14, planetary gear 16, gripper assembly shaft 18, gripper lever 20, gripper finger 22, a clutch 24 is interposed in the power train to each gripper finger and is controlled to provide a low force coupling transmittal when the fingers are moved in a position to contact the object 26 to be gripped, and after all fingers have contacted the object, the clutch provides for the transmittal of a relatively higher force adequate to permit handling the object without slipping.
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Family
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Cited Art Landscape
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