Conformal gripping end effector
AssigneeRE2, Inc.
InventorMario Campagna
Life of this patent
Estimating the term…
Abstract
Techniques for a conformal gripping end effector such as a gripping finger are provided. In an example, a conformal finger mechanism can include a proximal link, a connecting link, a distal link, a finger link coupling and a spring. The proximal link can be coupled via a proximal link pivot to an actuator housing and the connecting link can be coupled to an actuator rod of the actuator and the distal link. The distal link can be coupled to the connecting link and the proximal link. The spring can be coupled to an offset portion of a proximal end of the proximal link.
Claims18
A conformal finger mechanism comprising:
- a proximal link coupled via a proximal link pivot to an actuator housing;
- a finger link coupling forming at least a portion of the proximal link;
- a connecting link coupled to an actuator rod and a distal link;
- the distal link coupled to the connecting link and proximal link;
- and
- a spring coupled to an offset portion of a proximal end of the proximal link
- wherein the finger link coupling includes an engaged state configured to synchronize movement of the distal link and the proximal link, and
- wherein the finger link coupling includes a disengaged state configured to enable independent movement of the distal link.
A method of operating a conformal end-effector finger, the method including:
- maintaining, throughout operation of the conformal end-effector finger, a spring force against an offset portion of a proximal end of a proximal link biasing rotation of the proximal link around a first pivot point towards a closed position;
- extending an actuator a first interval from a fully retracted position to begin closing the conformal end-effector finger about an object;
- rotating the proximal link of the conformal end-effector finger about the first pivot point in response to extending an actuator from the fully retracted position, the first pivot point configured to couple the proximal link to a body of the actuator;
- and
- holding a distal link of the conformal end-effector finger from rotating about a second pivot in response to the spring force acting on a first distal end of the proximal link, and a connecting link coupled between an actuator rod of the actuator and a third pivot coupling the connecting link with the distal link.
A method of operating a conformal end-effector finger, the method including:
- retracting an actuator rod of an actuator a first interval from a fully extended position of the actuator to begin releasing the conformal end-effector finger;
- releasing a first force of the actuator on an object via a distal link of the conformal end-effector finger in response to retracting the actuator rod the first interval, the distal link coupled to the actuator rod via a connecting link and to a housing of the actuator via a proximal link;
- rotating the distal link independent of the proximal link about a distal link pivot away from the object in response to retracting the actuator rod the first interval, the distal link pivot coupling the distal link with the proximal link;
- maintaining a spring force on the object via the proximal link during the first interval, the spring force generated from a spring coupled to an offset portion of a proximal end of the proximal link, the spring force causing rotation about a proximal link pivot coupling the proximal link with the actuator housing;
- retracting the actuator rod a second interval upon completion of the first interval;
- and
- engaging the distal link with a finger link coupling of the proximal link in response to retracting the actuator rod the second interval.
A conformal finger mechanism comprising:
- a proximal link coupled via a proximal link pivot to an actuator housing;
- a finger link coupling forming at least a portion of the proximal link;
- a connecting link coupled to an actuator rod and a distal link;
- the distal link coupled to the connecting link and proximal link;
- and
- a spring including a first end coupled to an offset portion of a proximal end of the proximal link and a second end coupled to the actuator housing, the spring configured to force the offset portion of the proximal end of the proximal link away from the actuator housing,
- wherein the actuator housing is configured to house the actuator rod.
Dependencies are inferred from the claim text.