Methods and apparatus for mechanically intelligent grasping

Details Methods and apparatus for mechanically intelligent grasping Methods and apparatus for mechanically intelligent grasping

B - Operations, Transporting

25

J

294/9

B25J 15/00 (2006.01) B25J 9/10 (2006.01) B25J 13/08 (2006.01) B25J 15/10 (2006.01) F16D 43/21 (2006.01)

Patent

CA 1324403

ABSTRACT An improved robotic end effector is disclosed. The end effector of the present invention possesses a novel breakaway clutch, which is combined with mechanically linked finger joints to significantly reduce control complexity while retaining the ability to accomplish enveloping grasps. In another embodiment, a finger using compliant tendons to accomplish enveloping grasps is disclosed. A novel palm/finger configuration which further increases the versatility of the disclosed end effector without unduly increasing complexity is also disclosed. Methods of manipulating an object are also disclosed.

609924

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