Adaptive robotic gripper
AssigneeHarris Corporation
InventorsPaul M. Bosscher, Matthew D. Summer
Life of this patent
Estimating the term…
Abstract
A method for grasping an object includes moving a first and second gripping pad (116) respectively to first and second locations in which a first face (117) of the first gripping pad is opposed from a second face (117) of the second gripping pad and spaced apart a distance. Two or more of pins (118) included in each gripping pad are extended from at least the first face in a direction toward the second face. Thereafter, an extension distance for each of the pins is independently determined responsive to a resistance encountered by each of the pins as a result of the extending. As a result of the independently determining step, an object-defined gripping contour is provided as formed by distal ends of the pins.
Claims20
A method for grasping an object, comprising:
- moving first and second gripping pads respectively to first and second locations in which a first face of the first gripping pad is opposed from a second face of said second gripping pad and spaced apart a distance, where the first gripping pad comprises a first plurality of pins each having a position on the first face which is offset from a position of a corresponding pin of a second plurality of pins of the second gripping pad;
- extending a first plurality of pins from at least said first face of the first gripping pad in a direction toward said second face of the second gripping pad;
- independently determining an extension distance for each of said first plurality of pins responsive to a resistance encountered by each of said first plurality of pins as a result of said extending;
- and
- as a result of said independently determining step, producing an object-defined gripping contour formed by distal ends of first pins of said first plurality of pins and a retainer wall surrounding a periphery of the object defined by meshed second pins of the first and second plurality of pins.
A system for grasping an object, comprising:
- a first gripping pad comprising a first plurality of pins;
- a second gripping pad comprising a second plurality of pins each having a position thereon which is offset from a position of a corresponding pin of the first plurality of pins on the first gripping pad;
- at least one mechanical linkage responsive to a control system and configured to move at least one of said first and said second gripping pads to a location in which a first face of the first gripping pad is opposed from a second face of said second gripping pad and spaced apart a distance;
- a fluid system configured to
- cause the first plurality of pins to extend from at least said first face of the first gripping pad in a direction toward said second face of the second gripping pad, and
- independently determine an extension distance for each of said first plurality of pins responsive to a resistance encountered by each of said first plurality of pins as a result of said extending;
- and
- wherein said first plurality of pins and said fluid system are configured so that when extended (a) a plurality of distal ends of first pins of said first plurality of pins have an object-defined gripping contour and (b) meshed second pins of the first and second plurality of pins form a retainer wall surrounding a periphery of the object.
Dependencies are inferred from the claim text.