Kinetic and dimensional optimization for a tendon-driven gripper
US8833827B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 9, 2013 |
| Grant date | Sep 16, 2014 |
| Priority date | — |
| Expiry date | Oct 9, 2033 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/38
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A tendon-driven robotic gripper is disclosed for performing fingertip and enveloping grasps. One embodiment comprises two fingers, each with two links, and is actuated using a single active tendon. During unobstructed closing, the distal links remain parallel, creating exact fingertip grasps. Conversely, if the proximal links are stopped by contact with an object, the distal links start flexing, creating a stable enveloping grasp. The route of the active tendon and the parameters of the springs providing passive extension forces are optimized in order to achieve this behavior. An additional passive tendon is disclosed that may be used as a constraint preventing the gripper from entering undesirable parts of the joint workspace. A method for optimizing the dimensions of the links in order to achieve enveloping grasps of a large range of objects is disclosed and applied to a set of common household objects.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.