Compliant underactuated grasper

摘要

A compliant underactuated grasper includes a palm base and two fingers. Each of the fingers comprises: a proximal phalanx; a distal phalanx; a compliant flexure joint connecting the distal phalanx to the proximal phalanx; and a pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis. The grasper further includes at least one actuator to move the fingers. The grasper has fewer actuators than degrees of freedom.

主权项

1. A compliant underactuated grasper comprising:
a palm base; first and second fingers, wherein each of the first and second fingers comprises:
a proximal phalanx;a distal phalanx;a compliant flexure joint connecting the distal phalanx to the proximal phalanx; anda pin joint connecting the proximal phalanx to the palm base, the pin joint constraining angular movement of the proximal phalanx relative to the palm base to rotation about a pin pivot axis; first and second rotation joints connecting the first and second fingers, respectively, to the palm base to enable rotation of the first and second fingers relative to the palm base, wherein the first and second fingers can be rotated relative to the palm base about the first and second rotation joints to reorient their pin pivot axes with respect to the palm base and to change an angle defined between the pin pivot axis of the first finger and the pin pivot axis of the second finger; and at least one actuator to move the first and second fingers; wherein the grasper has fewer actuators than degrees of freedom.