초록 ▼

A manipulator having a grasping mechanism for grasping an object and an arm mechanism for lifting the grasped object, is disclosed. A weight detector is provided which detects a force that the top of the arm mechanism receives in the gravitational direction when the grasped object is being lifted. I

A manipulator having a grasping mechanism for grasping an object and an arm mechanism for lifting the grasped object, is disclosed. A weight detector is provided which detects a force that the top of the arm mechanism receives in the gravitational direction when the grasped object is being lifted. In order to find the minimum grasping force sufficient to lift the object, a grasp detector is provided for detecting, from the output of the weight detector, that the object cannot be lifted up with the present grasping force and a desired grasping force selector for selecting successively a desired value of grasping force starting from a predetermined minimum desired value until it is detected that the object is lifted. A grasping force control circuit controls the grasping force to the selected desired value.

대표청구항 ▼

A manipulator comprising: a grasping mechanism for grasping an object with a controllable grasping force, the frictional force between said grasping mechanism and said object varying from static frictional force to dynamic frictional force when a slippage occurs between said grasping mechanism and s

A manipulator comprising: a grasping mechanism for grasping an object with a controllable grasping force, the frictional force between said grasping mechanism and said object varying from static frictional force to dynamic frictional force when a slippage occurs between said grasping mechanism and said object; an arm mechanism coupled to said grasping mechanism and arranged to be capable of being raised to lift said object grasped by said grasping mechanism; grasping force control means coupled to said grasping mechanism for controlling a grasping force applied to said grasping mechanism to grasp the object; weight detecting means coupled to said arm mechanism for detecting a force applied to said arm mechanism when the grasped object is being lifted, the force applied to said arm mechanism instantaneously varying in response to the variation of the frictional force between said grasping mechanism and said object from the statical frictional force to the dynamic frictional force; grasping detecting means coupled to said weight detecting means for detecting whether or not the grasped object has been lifted by a present force being applied to said grasping mechanism, said grasping detecting means being arranged to detect that said object has not been lifted, in response to the detection of the instantaneous variation of the frictional force between said grasping mechanism and said object by said weight detecting means; and grasping force selecting means coupled to said grasping force control means and responsive to said grasp detecting means for stepwise increasing a grasping force being applied to said grasping mechanism by said grasping force control means from a predetermined minimum force level until said grasp detecting means detects that the object has been lifted.