Robotic gripper drive system.

摘要

A compact low-cost drive system for a robotic gripper is disclosed having a rotationally driven shaft (10) connected to an energy source (35) for transmitting energy to the gripper. An epicyclic gear arrangement is coupled to the shaft to convert the rotational motion of the shaft (10) into a linear motion. At least one of the pins (28, 29) connected to the gears is linearly translateable in two directions under the control of the energy source (35). Fingers (32, 33) are recessed in the pins to facilitate gripping and releasing objects to be handled by the gripper. A feedback means (36) coupled between the energy source (35) and the fingers (32, 33) can also be used to sense and control the position of the gripper.