发明名称 |
Mechanical fingers for dexterity and grasping |
摘要 |
Improved robotic fingers are disclosed. The present invention provides a novel three joint, two actuator robotic finger. The finger disclosed is self-contained, lighter and requires less computational overhead than designs requiring one actuator for each joint, while providing greater versatility than simple grippers. The fingers of the present invention are constructed using a series of pulleys and tendons to couple the motion of two joints. In a preferred embodiment, a novel tendon configuration is disclosed which provides human-like enclosure and grasping capabilities. Also, other useful tendon configurations are disclosed. Robotic hands comprised of a group of one or more of the fingers of the present invention and methods of utilizing them to manipulate objects are also disclosed.
|
申请公布号 |
US4865376(A) |
申请公布日期 |
1989.09.12 |
申请号 |
US19870101142 |
申请日期 |
1987.09.25 |
申请人 |
LEAVER, SCOTT O.;MCCARTHY, JOHN M. |
发明人 |
LEAVER, SCOTT O.;MCCARTHY, JOHN M. |
分类号 |
B25J9/10;B25J15/00 |
主分类号 |
B25J9/10 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|