Methods and apparatus for mechanically intelligent grasping
AssigneeThe Trustees of the University of Pennsylvania
InventorNathan T. Ulrich
Life of this patent
Estimating the term…
Abstract
An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.
Claims17
Apparatus for grasping an object, comprising:
- (a) a palmar surface comprising a grasping surface and a perimeter;
- (b) a first articulated member comprising a grasping surface, the member attached to said palmar surface by a grip drive having an axis of rotation, wherein the grasping surface of the member is displaced from the axis of rotation and the axis of rotation is attached to the palmar surface at a point inward from the perimeter of the palmar surface, and wherein the articulated member further comprises at least a first and a second rotatable joint, wherein both of the rotatable joints are disposed above the grasping surface of the palmar surface at all times, and the axis of rotation of the first articulated member is fixed at a first position and placed to allow a range of motion of at least 90.degree., and wherein said articulated member is moveable relative to the perimeter;
- (c) means for actuating said articulated member in coordination with said palmar surface by rotating the first and second rotatable joints and by moving the grip drive about the axis of rotation;
- and
- (d) a non-rotatable stationary member affixed to the palmar surface, and comprising a grasping surface,
- whereby the articulated member and the stationary member can selectively cooperate to grasp an object between them and can selectively be positioned so that a respective grasping surface of each of them is coplanar and can be used to execute a grasp.
An end effector comprising a palm;
- a stationary grasping member;
- and an articulated finger comprising two or more rotatable joints, the finger connected to the palm at a point inward from an edge of the palm to define an axis of rotation fixed in a position and placed to allow a range of motion of at least 180.degree. around the perimeter of the palm, wherein said articulated finger is moveable relative to the perimeter of the palm wherein the finger can be moved to a position adjacent the grasping member so that a grasping surface of articulated finger and the grasping member are in the same plane and can be used to execute a grasp.
An end effector comprising a palm;
- and two articulated fingers connected to the palm at an axis of rotation inward from an edge of the palm placed to allow a range of motion of at least 180.degree. around the palm, wherein the articulated fingers are moveable relative to the perimeter of the palmar surface, the articulated fingers each comprising two or more rotatable joints disposed above the palm whereby the articulated fingers can be moved to a position adjacent one another so that a grasping surface of each articulated finger is in the same plane and can be used to execute a grasp.
Dependencies are inferred from the claim text.