Title:
GRASP CONTROLLER
Document Type and Number:
Japanese Patent JPS5937090
Kind Code:
A
Abstract:
The gripping apparatus described comprises a four-bar linkage arrangement for so controlling movement of the two pairs of parallel beams and fingers operatively connected thereto as to cause the gripping surfaces of the fingers to concurrently move in rectilinearly aligned paths and remain parallel throughout their excursion during gripping and releasing of an article and apply a constant gripping force to the article irrespective of the extent to which the fingers are moved toward each other into gripping contact. The beams are pivotally connected directly at their one ends, and also intermediate their ends via links, to a fixed member; and the beams at their opposite ends have a pin-in-slot connection with the fixed member. When force is applied to the links to operatively cause the fingers to grip the article, the links will rock and the arc described by each beam will be accurately cancelled by the arc generated by each link.
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Inventors:
HIYUUGO ANSONII PANISHIDEI
Application Number:
JP8283583A
Publication Date:
February 29, 1984
Filing Date:
May 13, 1983
Export Citation:
Assignee:
IBM
International Classes:
B25J15/00; B25J13/08; B25J15/02; B25J15/08; B25J17/02; B25J19/02; (IPC1-7): B25J15/00
Domestic Patent References:
| JPS4217919Y1 | ||||
| JPS5269152A | 1977-06-08 |
Attorney, Agent or Firm:
Jiro Yamamoto
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