| 摘要 |
The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot. |
| 主权项 |
1. A mechanical finger comprising:
a knuckle, a proximal element, a rod,
the knuckle having a first pivot and a second pivot separated by a first predetermined distance,
the proximal element having a knuckle end pivotally coupled to the knuckle first pivot and a third pivot at a variable longitudinal distance from the first pivot,
the rod having a knuckle end pivotally coupled to the knuckle second pivot and a distal element end pivotally coupled to the third pivot, a force generator driving a screw, the force generator being coupled to the proximal element, the screw being coupled to the third pivot to change the variable longitudinal distance between the first pivot and the third pivot in response to a command from a control sensor to the force generator, a distal element, the distal element being pivotally coupled to the proximal element at
a fourth pivot, the distal element rotating with respect to the proximal element and the fourth pivot in response toa change in the variable distance between the third pivot and the first pivot. |
