초록 ▼

A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure tran

A grasp force sensor for robotic hands is disclosed. A flexible block is located in the base of each claw through which the grasp force is exerted. The block yields minute parallelogram deflection when the claws are subjected to grasping forces. A parallelogram deflection closely resembles pure translational deflection, whereby the claws remain in substantial alignment with each other during grasping. Strain gauge transducers supply signals which provide precise knowledge of and control over grasp forces.

대표청구항 ▼

A robotic hand including a pair of opposed claws positioned in parallel and aligned with each other for grasping an object as at least one of said claws is moved toward the other along a common direction of movement, and means for moving at least one of said claws, said hand comprising: a slide memb

A robotic hand including a pair of opposed claws positioned in parallel and aligned with each other for grasping an object as at least one of said claws is moved toward the other along a common direction of movement, and means for moving at least one of said claws, said hand comprising: a slide member, selectively moveable by said claw moving means along said common direction of claw movement, said slide member having a flat outwardly facing surface mounting plane; at least one claw member of said pair of claws having an inwardly directed flat surface mounting plane matching said mounting plane of said slide member; a hollow rectangular cylinder mounting base with opposed and spaced parallel forward and rearward facing sides each having flat surface mounting planes conforming to said surface mounting planes of said slide member and said one claw member; means securably positioning said flat surface mounting planes of said sides of said base against the mounting planes of said slide member and said one claw member to fixably join said base between said slide member and said one claw member; and said mounting base, as force is applied to said object by movement of said one claw member along said common direction, being characterized as translationally deformable, essentially as a parallelogram wherein said parallel sides of said base remain essentially parallel and move relative to one another in a direction corresponding to the direction of claw movement, and deflect inwardly toward each other in a direction transverse to said direction, whereby said claws remain aligned and parallel with each other as force is applied to said object.