Multiple point contact gripper
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United States of America Patent
Stats
-
Mar 31, 1987
Grant Date -
N/A
app pub date -
Aug 16, 1984
filing date -
Sep 2, 1983
priority date (Note) -
Expired
status (Latency Note)
Importance
Abstract
A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.
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