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US 2015/0190931 A1Published application
Compliant Underactuated Grasper
AssigneeiRobot Corporation
InventorsMark Claffee, Nicholas Roy Corson
Life of this patent
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Abstract
A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.
Claims23
-11. (canceled)
A compliant underactuated grasper comprising:
- a palm base;
- first and second fingers, wherein each of the first and second fingers comprises:
- a proximal phalanx;
- a distal phalanx;
- and
- a compliant flexure joint connecting the distal phalanx to the proximal phalanx;
- and
- first and second rotation joints connecting the first and second fingers, respectively, to the palm base to enable rotation of the first and second fingers relative to the palm base, wherein the first and second fingers can be rotated relative to the palm base about the first and second rotation joints to reorient the first and second fingers with respect to the palm base and to change an angle defined between a pivot axis of the first finger and a pivot axis of the second finger;
- wherein the distal phalanx of each of the first and second fingers includes:
- a rounded end face;
- and
- a lifting portion including a lifting edge adjacent the rounded end face.
9 more elements
Dependencies are inferred from the claim text.