Articulated hand
US5062673A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Dec 28, 1989 |
| Grant date | Nov 5, 1991 |
| Priority date | — |
| Expiry date | Dec 28, 2009 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S294/907
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
An articulated hand comprising a plurality of finger module structures each of which has one top end provided with an abutting member for contacting an object and the other end connected to a finger connecting member and has a plurality of articulates formed between the one and the other ends by combination of a plurality of link members and articulate turn-shafts; a plurality of motors provided at the other ends of the respective finger module structures integrally therewith; a power transmitting device for transmitting motor powers to the articulate turn-shaft and a hand structure connected to a manipulator. The finger modules are arranged in a manner so that the articulate shafts are driven independently of each other, and each of the link members is provided with sensors respectively for directly detecting a relative angle and relative torque between adjacent link members. Each of the articulate turn-shafts is provided with an angel-torque servo system, wherein deviation signals based on the relative angle and torque are processed. In the articulated hand, each of the motors is connected to a variable constant-current source to change its power through changing an instruction c…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.