Title:
ROBOT GRIPPER
Document Type and Number:
WIPO Patent Application WO/2017/116614
Kind Code:
A3
Abstract:
A compact lightweight robotic end-effector has a large range of possible applied force. The end-effector includes one or more underactuated appendages, where each appendage is driven by a single motor connected to a driving cable wound throughout the appendage. The driving cable may be a flat cable or a cable with another non-circular cross section. The driving cable may be wrapped through a series of pulleys and/or bearings within the appendage to reduce frictional losses. The design of the pulley path may allow a desired mechanical response by the appendage, and the mechanical response may be optimized for a grasping process.
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Inventors:
SALISBURY CURT (US)
STEVENS MIKE (US)
SHIVERS ZACHERY (US)
STEVENS MIKE (US)
SHIVERS ZACHERY (US)
Application Number:
PCT/US2016/064835
Publication Date:
September 28, 2017
Filing Date:
December 02, 2016
Export Citation:
Assignee:
SALISBURY CURT (US)
STEVENS MIKE (US)
SHIVERS ZACHERY (US)
STEVENS MIKE (US)
SHIVERS ZACHERY (US)
International Classes:
B25J15/00; B25J9/10; B25J15/10; B25J19/02
Foreign References:
| US20140035306A1 | 2014-02-06 | |||
| JP2006192523A | 2006-07-27 | |||
| JP2004223687A | 2004-08-12 | |||
| US4921293A | 1990-05-01 | |||
| JP2011121162A | 2011-06-23 |
Other References:
See also references of EP 3383599A4
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