ADAPTIVE THREE-PIN GRIPPER

摘要

FIELD: process engineering.SUBSTANCE: invention relates to robotics. Proposed device comprises housing with three pins fitted thereat at vertices of isosceles or equilateral triangle. Every pin consists of three links, first turning relative to said housing while second and third links turn about first and second links, driven by individual turn drives with parallel rotational axes. Note here that two links may turn about axis perpendicular to links mount plane and to that of link turn. Every said links can turn relative to housing through, at least, 90 degrees actuated by said individual drive. Aforesaid housing accommodates separate drive to turn it with links relative to housing structural element that secures gripper to manipulator. Individual drives are composed of servo drives with built-in moment sensing while link contact surfaces are furnished with touch-sensitive pickups.EFFECT: higher operating performances.3 dwg