End of arm tools for soft robotic systems
AssigneeSoft Robtics, Inc.
InventorsJeffrey Curhan, Craig Demello, Thomas Womersley, William Gunner
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Abstract
Exemplary embodiments relate to unique structures for robotic end-of-arm-tools (EOATs). According to some embodiments, two or more fingers or actuators may be present on an EOAT, and the actuators may be connected to a hub through one or more sets of pivots attached to linkages that allow the distances between the pivots to be varied. Compared to conventional EOATs, exemplary embodiments increase the range of motion of the actuators, improve grip posture, boost gripping force, and balance the loads on the actuators.
Claims20
A soft robotic grasping system for grasping a target object, comprising:
- a gripper hub having an axial center region about an axial center line, the gripper hub extending from the axial center line in a lateral direction;
- a soft robotic finger supported by the hub, the soft robotic finger including an elastomeric outer surface surrounding an internal void, and configured to curl when a pressure change occurs within the internal void;
- a linkage extending from a proximal end of the soft robotic finger to the gripper hub;
- a pivot point at which the linkage is rotatably connected to the gripper hub;
- a linear actuator disposed between the pivot point and the proximal end of the soft robotic finger and configured to move in the lateral direction;
- and
- a controller configured to actuate the linear actuator to move the linear actuator in the lateral direction.
Dependencies are inferred from the claim text.