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Compliant adaptive robot grasper

A robotic and self-adaptive technology, applied in the direction of manipulators, manufacturing tools, chucks, etc., can solve the problems of expensive manufacturing, instability and limitations during programming and system debugging, and achieve solid structure, long service life and increased reliability. Effect

Active Publication Date: 2018-01-02
哈佛大学董事会
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] Similarly, current under-actuated hands that use passive mechanisms and / or compliance to accommodate object geometry are limited in terms of the range of objects that can be accommodated
Existing under-actuated hands also tend to be expensive to manufacture, and many methods are not robust to collisions that may occur in unstructured environments or during programming and system debugging in industrial applications

Method used

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  • Compliant adaptive robot grasper
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  • Compliant adaptive robot grasper

Examples

Experimental program
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Effect test

Embodiment approach

[0078] Combined translational and rotational actuation at base linkage

[0079] In particular embodiments, fingers 10 are actuated solely with a rotary motor (eg, via a rotary shaft extending from mounting block 30 ). However, pneumatic slides or linkages may also or alternatively be used, resulting in a combination of translational and rotational motion.

[0080] Non-parallel linkage behavior

[0081] Having a modular design of the fingers 10 can provide advantages; for example, many different four-bar linkage designs can be quickly switched onto the same gripper. Figure 14 and Figure 15 The non-parallel design shown in can also be realized as a single piece with a living hinge joint 26.

[0082] Fiber Structural Elements

[0083] Strings, straps, or strips of cloth can be cast into the one-piece fingers 10 to form links that do not need to support compressive loads. For example, Figure 41 A design is shown in which the front (palm) proximal link is replaced by a bel...

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Abstract

A compliant adaptive robot grasper comprises a multi-bar finger linkage, including a fingertip link, at least one base link, and front and rear links joining the base link via a first set of joints with the fingertip links via a second set of joints. The base link includes a mounting structure, allowing it to be mounted on a mounting block for rotary actuation. Linear connections between the joints form a shape substantially in the form of a parallelogram allowing the linear connections across the front and rear links to remain substantially parallel to one another as the front and rear linkspivot about the base link without substantially changing the orientation of the fingertip link until and unless the multi-bar finger linkage contacts an external object.

Description

[0001] Cross References to Related Applications [0002] This application claims priority to and benefit of US Provisional Patent Application No. 62 / 128,775 filed March 5, 2015, which is hereby incorporated by reference in its entirety. [0003] governmental support [0004] This invention was made with Government support under Grant No. IIP-1445364 awarded by the National Science Foundation. The US Government has certain rights in this invention. Background technique [0005] Mechanical grasping is advantageous in many applications, including robotics and prosthetics. In industrial and logistics robotics, grippers are used to pick up and move objects as part of manufacturing and packaging processes, such as loading and unloading machines and placing parts into pallets and shipping containers. In typical current practice, the gripper fingers are designed for each specific part being handled, and the programming for performing the grasping and placement process is dedicated ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
CPCB25J13/084B25J15/12B25J15/024B25J15/0009B25J15/022
Inventor 莱尔·奥德纳列夫·金托夫特雅罗斯拉夫·滕泽尔
Owner 哈佛大学董事会