Reconfigurable end effector
US5108140A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | Apr 17, 1990 |
| Grant date | Apr 28, 1992 |
| Priority date | — |
| Expiry date | Apr 17, 2010 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB25J15/0009
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A highly reconfigurable end effector employing three digits, each having two pivoting degrees of freedom and a rotational degree of freedom. The digits have an asymmetrical configuration where two of the digits rotate about an offset axis and the third digit about a substantially non-offset axis allowing the digits to reconfigure about a payload. Each digit employs a strong, tendonless digit actuation mechanism for driving the pivoting degrees of freedom. A differential transmission in the digit actuation mechanism, in conjunction with a double parallelogram configuration formed by the moving segments, provides a selective enveloping or parallel vise grip grasping action of the end effector.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.