U.S. patent number 3,901,547 [Application Number 05/448,341] was granted by the patent office on 1975-08-26 for multiple prehension mechanism.
Invention is credited to Frank R. Skinner,II.
United States Patent |
3,901,547 |
Skinner,II |
August 26, 1975 |
Multiple prehension mechanism
Abstract
A multiple prehension mechanism including a base; a plurality of
finger assemblies mounted on the base; finger drive means for
selectively opening and closing the fingers so that each finger
moves in a single curling plane; and positioning drive means for
selectively positioning the finger assemblies so that different
prehensile modes can be achieved. The disclosure also contemplates
the method of operation of the mechanism.
Inventors: |
Skinner,II; Frank R. (St.
Joseph, MI) |
Family
ID: |
27000720 |
Appl.
No.: |
05/448,341 |
Filed: |
March 5, 1974 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
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360022 |
May 14, 1973 |
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Current U.S.
Class: |
294/195; 294/97;
294/115; 414/1; 623/64; 901/39; 294/106; 294/902; 623/26;
901/36 |
Current CPC
Class: |
B25J
15/103 (20130101); Y10S 294/902 (20130101) |
Current International
Class: |
B25J
15/10 (20060101); B25b 005/04 () |
Field of
Search: |
;214/1CM ;3/12.7,1.2
;294/97,115,DIG.2,88,106 |
References Cited
[Referenced By]
U.S. Patent Documents
Primary Examiner: Spar; Robert J.
Assistant Examiner: Abraham; George F.
Attorney, Agent or Firm: Powell; B. J.
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This application is a continuation-in-part of my co-pending
application Ser. No. 360,022, filed May 14, 1973 entitled "Multiple
Prehension Manipulator Mechanism", now abandoned.
Claims
I claim:
1. A multiple prehension mechanism adapted to assume different
prehensile operational modes to grasp objects comprising:
a palmar base defining a working surface thereon, said base having
a centerline generally normal to said working surface;
at least three finger assemblies carried by said base, each of said
finger assemblies including a support means mounted on said base, a
finger pivotally mounted on each of said support means about a curl
revolute axis generally perpendicular to said centerline for
movement toward and away from said working surface;
single finger drive means operatively connected to all of said
fingers for simultaneously pivoting said fingers about the
respective said curl revolute axis of said finger to engage the
objects; and,
positioning drive means operatively connected to said support means
for selectively positioning said support means so that said fingers
close in intersecting curling planes in a first position and in
substantially parallel and laterally spaced curling planes in a
second position.
2. The mechanism of claim 1 wherein one of said support means is
fixedly mounted on said base, wherein two of said support means are
pivoted on said base at spaced apart positioning axes generally
parallel to said centerline of said base, and wherein said
positioning drive means is operatively connected to said two of
said support means to selectively pivot said two of said support
arms about said positioning axes to selectively move said two of
said support arms between said first and second positions.
3. The mechanism of claim 1 wherein said finger drive means
includes power means carried by said base, said power means
comprising adapter means, a drive unit for selectively moving said
adapter means along an operating path generally parallel to said
centerline of said base, and connector means operatively connecting
each of said fingers to said adapter unit for effecting
simultaneous opening and closing of all of said fingers in response
to movement of said adapter means.
4. The mechanism of claim 1 wherein said positioning drive means
comprises at least one motor means carried by said adapter means
and operatively connected to said two of said power arms to
selectively pivot said two of said power arms and said two of said
support means about said positioning axes.
5. The mechanism of claim 4 wherein said motor means includes fluid
cylinder means.
6. The mechanism of claim 5 wherein said fluid cylinder means
includes a first fluid cylinder carried by said adapter means
having a first piston rod operatively connected to one of said two
of said power arms to selectively pivot said one of said two of
said power arms about its said positioning axis; and a second fluid
cylinder carried by said adapter means having a second piston rod
operatively connected to the other of said two of said power arms
to selectively pivot said other of said two of said power arms
about its said positioning axis.
7. The mechanism of claim 1 wherein each of said fingers of said
finger assemblies further includes a projecting end extendable over
said base and wherein each of said finger assemblies further
includes tip means rotatably mounted in said projecting end of said
finger about a tip axis generally parallel to said curl revolute
axis of said finger, said tip means constructed and arranged to
grasp objects.
8. The mechanism of claim 7 wherein said tip means defines at least
two spaced apart contact surfaces thereon on the same side of said
finger adapted to engage objects so that said tip means is rotated
in response to engagement with the object until said two contact
surfaces both engage the object.
9. The mechanism of claim 8 further including initial positioner
means construced and arranged to resiliently urge said tip means in
a first predetermined rotational direction so that the rotation of
said tip means in response to enngagement with the object is in a
second predetermined rotational direction opposite to said first
direction.
10. The mechanism of claim 1 wherein said finger drive mechanism
includes a finger drive linkage operatively associated with each of
said finger assemblies and operating substantially coplanar with
the curling plane of said finger associated therewith, each of said
finger drive linkages defining a slider crank mechanism, the slider
axis thereof substantially parallel to said finger curling
plane.
11. The mechanism of claim 1 wherein each of said fingers includes
a projecting end which opens and closes within said curling planes
and a tip assembly carried by each of said projecting ends, each of
said tip assemblies comprising:
a tip member including contact means for engaging the object;
and,
pivot means for pivotally mounting said tip member on the
projecting end of said finger member about a tip axis generally
normal to the curling plane of said finger member for pivotal
movement independent of said finger member movement.
12. The mechanism of claim 11 wherein each of said tip assemblies
further includes limiting means for limiting the pivotal movement
of said tip member in a first direction and in a second direction
opposite to said first direction about said tip axis.
13. The mechanism of claim 12 wherein each of said tip assemblies
further includes positioner means for resiliently urging said tip
means in said first direction.
14. The mechanism of claim 13 wherein each of said tip members
defines two spaced apart contact surfaces arranged to urge said tip
member in said second direction against the urging of said
positioner means as an incident to the engagement of one of said
contact points with the object.
15. The mechanism of claim 11 wherein each of said tip members
defines a plurality of spaced apart contact surfaces thereon
constructed and arranged so that said tip member is inherently
shifted to cause at least two of said contact surfaces to engage
the object as it is being grasped.
16. A multiple prehension mechanism adapted to assume different
prehensile operational modes to grasp objects comprising:
a palmar base defining a working surface thereon, said base having
a centerline generally normal to said working surface;
at least three finger assemblies carried by said base, each of said
finger assemblies including a support means mounted on said base, a
finger pivotally mounted on each of said support means about a curl
revolute axis generally perpendicular to said centerline for
movement toward and away from said working surface; and,
single finger drive means operatively connected to all of said
fingers for simultaneously pivoting said fingers about the
respective said curl revolute axis of said finger to engage the
objects, said finger drive means including power means carried by
said base, said power means comprising adapter means, a drive unit
for selectively moving said adapter means along an operating path
generally parallel to said centerline of said base, and connector
means operatively connecting each of said fingers to said adapter
unit for effecting simultaneous opening and closing of all of said
fingers in response to movement of said adapter means, said
connector means including at least three power arms connected to
said adapter means for movement therewith, one of said power arms
fixed to said adapter means in alignment with said one of said
support means and two of said power arms pivoted to said adapter
means about arm positioning axes in alignment with said positioning
axes of said two of said positioning means, and link means
operatively connecting each of said power arms to said finger
associated therewith.
17. The mechanism of claim 16 wherein said drive unit comprises a
fluid cylinder carried by said base; said fluid cylinder including
a piston rod selectively movable about a path generally parallel to
the centerline of said base, said piston rod having a projecting
end and said adapter means mounted on said projecting end of said
piston rod.
18. A multiple prehension mechanism adapted to assume different
prehensile operational modes to grasp objects comprising:
a palmar base defining a working surface thereon, said base having
a centerline generally normal to said working surfaces;
at least three finger assemblies carried by said base, each of said
finger assemblies including a support means mounted on said base, a
finger pivotally mounted on each of said support means about a curl
revolute axis generally perpendicular to said centerline for
movement toward and away from said working surface, one of said
support means fixedly mounted on said base, two of said support
means pivoted on said base at spaced apart positioning axes
generally parallel to said centerline of said base, said two of
said support means selectively movable from a first position in
which said fingers move in intersecting curling planes to a second
position in which said fingers move in parallel curling planes.
19. A multiple prehension mechanism adapted to assume different
prehensile operational modes to grasp objects comprising:
a base defining a centerline;
three finger assemblies carried by said base, each of said finger
assemblies including a support arm and a finger pivoted on said
support arm about a curl revolute axis generally normal to said
centerline, said support arms pinned to said base at three spaced
points equally spaced about a circle lying in a plane generally
perpendicular to said centerline, said support arm of one of said
finger assemblies having a fixed position so that it extends
generally radially of said circle and said support arms of the
other two of said finger assemblies selectively pivotal about their
associated points around positioning axes generally parallel to
said centerline so that the curl revolute axes of said other two of
said finger assemblies move about arcuate paths centered on said
positioning axes.
20. The mechanism of claim 19 further including positioning means
for selectively moving said other two of said finger assemblies to
a first position in which said support arms extend from said circle
in directions not parallel to each other and to a second position
in which said support arms are all generally parallel and laterally
spaced so that said fingers pivot generally parallel to each
other.
21. The mechanism of claim 20 wherein said support arms of said
other two of said finger assemblies extend substantially radially
with respect to said circle in said first position.
22. The mechanism of claim 21 further including finger drive means
for selectively pivoting said fingers about said curl revolute axes
to grasp objects.
Description
BACKGROUND OF THE INVENTION
Many attempts have been made to produce a manipulator having
substantially the same capabilities as the human hand. Because the
human hand has many motor and control systems, such prior art
manipulators have been very complicated and therefore prohibitively
expensive to manufacture and maintain. Because of the complexity of
the human hand, many of these prior art manipulators attempted to
combine several motor functions of the human hand with the
attendant loss of capability.
SUMMARY OF THE INVENTION
The invention disclosed herein overcomes these and other problems
associated with the prior art by providing a manipulator mechanism
which has virtually all of the basic capabilities associated with
the human hand. The construction of the invention is relatively
simple thereby reducing the manufacturing cost and maintenance
cost.
The invention comprises generally a plurality of finger assemblies,
each including a finger pivoted about at least one finger axis
through a single plane normal to the finger axis, a base mounting
the finger assemblies so that the plane of each finger can e
rotated about a positioning axis through the plane and normal to
the finger axes, finger drive means for pivoting the fingers about
the respective finger axes, and positioning means for moving the
finger assemblies so that at least two of the planes will be
rotated about their respective positioning axes. The finger drive
means collectively pivots the fingers about their finger axis.
These and other features and advantages will become more apparent
upon consideration of the following specification and accompanying
drawings wherein like characters of reference designate
corresponding parts throughout the various views and in which:
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of one embodiment of the
invention;
FIG. 2 is an operating end view of the invention of FIG. 1;
FIG. 3 is a cross-sectional view taken along line 3--3 in FIG. 2
showing the finger assemblies in wrap-spread prehensile mode;
FIG. 4 is a cross-sectional view taken along line 4--4 in FIG.
3;
FIG. 5 is a side view illustrating a second embodiment of the
invention;
FIG. 6 is a longitudinal cross-sectional view of FIG. 5;
FIG. 7 is a cross-sectional view taken along line 7--7 in FIG.
5;
FIG. 7A is a cross-sectional view taken along line 7A--7A in FIG.
5;
FIG. 8 is an enlarged side view of one of the tips of that
embodiment of FIG. 5;
FIG. 9 is an edge view taken along line 9--9 in FIG. 8;
FIG. 10 is a cross-sectional view taken along line 10--10 in FIG.
9; and,
FIGS. 11-18 illustrate the embodiment of FIG. 5 in operation.
These figures and the following detailed description disclose
specific embodiments of the invention, however, it is to be
understood that the inventive concept is not limited thereto since
it may be embodied in other forms.
DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS
Referring to FIGS. 1-4, it will be seen that the first embodiment
of the manipulator is designated by the numeral 110. Generally, the
manipulator mechanism 110 includes a base 111, a plurality of
finger assemblies 112 mounted on base 111, a firger driving
mechanism 114 carried by the base 111, and a positioning mechanism
115 carried by base 111 for positioning the finger assemblies
112.
Basically, the manipulator mechanism is an assembly of drive and
mechanisms intended for prehension. These mechanisms, called
fingers, are attached to a base. Three fingers are considered
necessary and sufficient in the construction of the manipulator.
Fingers can approach, contact, or pass one another during
prehensile operation. The manipulator contains all of the drives
below the palmar surface of base 111. A multiple degree-of-freedom
wrist mechanism (not shown) may be used to connect to and move the
manipulator so that it can approach an object from any
direction.
The objective of the manipulator mechanism is to produce a highly
versatile hand with a minimum number of moving parts, a dependable
drive system, and an optimum number of degrees of freedom. The
number of degrees of freedom is considered uptimum when it is
estimated that the manipulator mechanism can grasp all of the basic
geometrical shapes from any aspect with the minimum number of
external control inputs. These basic shapes are rectangular and
triangular prisms, spheres, and cylinders.
The human hand is generally accepted as being capable of the six
basic prehensile patterns: lateral, hook, tip, palmar, spherical,
and cylindrical. These six basic prehensile patterns, because of
similarities, can be reduced to the three basic mechanical
equivalents of wrap, three-jaw and tip prehension that very nearly
duplicate the basic human hand prehensile patterns. Additionally,
in order to grip large objects that the fingers can not surround,
spread prehension is created which consists of inserting the
fingers into an opening in the object and then bending them outward
to engage the object within the opening. The manipulator mechanism
110 is able to generate all of the above four equivalent prehensile
patterns.
The base 111 seen in FIGS. 1-4 includes generally a top palmar
plate 121, which corresponds to the palm of the human hand, a base
plate 122 and a plurality of spacer supports 124 which connect
plates 121 and 122 so that they are generally parallel with palmar
plate 121 providing a working surface 125. Appropriate cutouts 126
are provided in palmar plate 121 for the finger assemblies 112 to
operate as will become more apparent.
Three finger assemblies 112 designated 112.sub.a -112.sub.c are
mounted between plates 121 and 122 at equally spaced points about
the circle defined by radius R from the common centerline CL of
plates 121 and 122.
FINGER ASSEMBLY
Finger assemblies 112.sub.a -112.sub.c are virtually identical in
construction and therefore only one will be described in detail
with like numerals applied to each. Each assembly 112 includes a
support arm 130 having a pair of spaced apart mounting ears 131.
The finger 134 is pivotally mounted between ears 131 through a base
revolute joint 135 about a curl axis CA. The arm 130 is attached to
the back side of palmar plate 121. The arm 130 of assemblies
112.sub.b and 112.sub.c are connected to the plate 121 through
revolute joint 136 so that the arm 130 pivots about a positioning
axis PA which intersects the circle of radius R and is normal to
the working surface 125 of plate 121 whereas the curl axis CA is
normal to axis PA and spaced outwardly therefrom a distance D. The
arm 130 of assembly 112.sub.a is fixed to the back of plate 121 so
that it extends radially, however, the distance from the circle of
radius R to axis CA is the distance D and the orientation of axis
CA is like that described above for assemblies 112.sub.b and
112.sub.c. Thus, it will be seen that the finger 134 is pivotal
through a single curling plane CP as best seen in FIG. 1 about the
curling axis CA perpendicular to the plane. The planes CP.sub.b and
CP.sub.c of assemblies 112.sub.b and 112.sub.c are pivoted about
the positioning axis PA which is parallel to the curling plane CP.
In the example shown, the axis PA lies within the curling plane
CP.
The fingers 134 may have multiple joints and links as fingers 34,
however, those illustrated are single elongate members 140 pivoted
at joint 135 and projecting out over the working surface 125 of
plate 121. A driving leg 141 is integral with member 130 and
extends below arm 130 for use in driving finger 134 as will be
explained. It will be noted that fingers 134 have a normal open
position so that the longitudinal axis of finger 134 lies along a
path P substantially perpendicular to working surface 125. The
finger 134 is designed to be double acting so that it can pivot
both inwardly and outwardly from path P as will become more
apparent.
FINGER DRIVE MECHANISM
While separate drive mechanism may be used for each finger assembly
112, a simplified common drive mechanism is illustrated. Mechanism
114 includes a tubular drive rod 150 slidably journalled in base
plate 122 for sliding movement along the centerline CL of base 111.
The operating end 151 of rod 150 projects into space 152 between
plates 121 and 122 and its other end is connected to a drive unit
154 such as the fluid cylinder shown in FIG. 3. A power adapter 155
is attached to the operating end 151 of rod 150 in space 152. The
outwardly extending power arms 156.sub.a -156.sub.c are attached to
adapter 155 so that they are aligned with the arm 130 each
associated finger assembly 112.sub.a -112.sub.c. The power arms
156.sub.b and 156.sub.c are pivoted along the respective
positioning axes PA of assemblies 112.sub.b and 112.sub.c so that
arms 156.sub.b and 156.sub.c pivot in tandem with arms 130 of
assemblies 112.sub.b and 112.sub.c respectively. A drive link 158
connects each arm 156 with its associated finger 134 so that as rod
150 moves adapter 155 and power arms 156 toward the back of palmar
plate 121, the fingers 134 will be simultaneously closed and as rod
150 and adapter 155 moves toward base plate 122, the fingers 134
will be opened to their normal position. Further movement of rod
150 toward base plate 122 cause the fingers 134 to continue to
spread outwardly past the paths P into the spread prehensile
mode.
POSITIONING MECHANISM
Referring to FIG. 2, it will be seen that finger assemblies
112.sub.b and 112.sub.c can be moved from a three-jaw prehensile
mode shown in solid lines to a wrap prehensile mode shown in dashed
lines. It will be noted that the spread prehensile mode can be
achieved in either position and that the tip prehensile mode could
be easily provided for with very little modification. Stops 159 may
be provided on plate 121 as seen in FIG. 4 to limit the movement of
the finger assemblies about axes PA.
The positioning of the assemblies 112 may be accomplished in a
number of different ways, however, the mechanism 115 includes a
drive gear 160 on drive shaft 161 journalled for rotation about the
centerline CL of base 111. An appropriate power source 162 such as
the motor shown in FIG. 3 is used to selectively rotate gear 160.
Shaft 161 passes through rod 150 but is rotatable independently
thereof. Gear 160 meshes directly with driven gear 164 attached to
arm 130 of finger assembly 112.sub.b and is connected to driven
gear 165 attached to arm 130 of finger assembly 112.sub.c through
reversing idler gear 166. When gear 160 is rotated clockwise as
seen in FIG. 9, the finger assemblies 112.sub.b and 112.sub.c will
be simultaneously rotated toward the wrap mode position, and when
gear 16 is rotated counterclockwise, assemblies 112.sub.b and
112.sub.c will be rotated toward their three-jaw mode position.
SECOND EMBODIMENT OF THE INVENTION
The second embodiment of the invention shown in FIGS. 5-18 is a
refinement of the manipulator mechanism 110 and is designated
generally 210 with finger assemblies 212 mounted on base 211 with
finger driving mechanism 214 and positioning mechanism 215.
The base 211 seen in FIGS. 5-10 includes generally a top palmar
plate 221, which corresponds to the palm of the human hand, a base
plate 222 and a plurality of spacer supports 224 which connect
plates 221 and 222 so that they are generally parallel with palmar
plate 221 providing a working surface 225. Appropriate cutouts 226
are provided in plates 221 and 222 for the finger assemblies 212 to
operate as will become more apparent.
Three finger assemblies 212 designated 212.sub.a -212.sub.c are
mounted between plates 221 and 222 at equally spaced points about
the circle defined by radius R from the common centerline CL of
plates 221 and 222 as seen in FIG. 7.
FINGER ASSEMBLY
Finger assemblies 212.sub.a -212.sub.c are similar to assemblies
112, virtually identical in construction and therefore only one
will be described in detail with like numerals applied to each.
Each assembly 212 includes a support arm 230 having a pair of
spaced apart mounting ears 231. The finger 234 is pivotally mounted
between ears 231 through a base revolute joint 235 about a curl
axis CA. The arm 230 is attached to the back side of palmar plate
221. The arm 230 of assemblies 212.sub.b and 212.sub.c are
connected to the plate 221 and spacer 233 through revolute joint
236 so that the arms 230 pivot about a positioning axes PA which
intersect the circle of radius R and are normal to the working
surface 225 of plate 221 whereas the curl axes CA are normal to
axes PA and spaced outwardly therefrom a distance D. The arm 230 of
assembly 212.sub.a is fixed to the back of plate 221 so that it
extends radially, however, the distance from the circle of radius R
to axis CA is the distance D and the orientation of axis CA is like
that described above for assemblies 212.sub.b and 212.sub.c. Thus,
it will be seen that each finger 234 is pivotal through a single
curling plane CP about the curling axis CA perpendicular to the
plane. The planes CP.sub.b and CP.sub.c of assemblies 212.sub.b and
212.sub.c are pivoted about the positioning axes PA which are
parallel to the curling plane CP. In the example shown, the axis PA
lies within the curling plane CP.
The fingers 234 illustrated are single elongate members 240 pivoted
at joint 235 and projecting out over the working surface 225 of
plate 221. A driving leg 241 is integral with member 240 and
extends below arm 230 for use in driving finger 234 as will be
explained. It will be noted that fingers 234 have a normal open
position so that the longitudinal axis of finger 234 lies along a
path P substantially perpendicular to working surface 225. The
finger 234 is designed to be double acting so that it can pivot
both inwardly and outwardly from path P as will become more
apparent.
Each finger assembly 212 mounts a tip assembly 300 at the
projecting end of member 240 as best seen in FIGS. 8-10. Each tip
assembly 300 includes a tip 301 and an initial positioner unit 302.
The projecting end 242 of member 240 defines a slot 244
therethrough oriented generally parallel to the curling plane CP of
assembly 212. The tip 301 is a generally rectilinear plate defining
a V-shaped notch 304 at its inner and outer ends to define a pair
of spaced apart contact points 305 at opposite ends of tip 301. The
points 305 define contact surfaces 307 thereon to engage the object
to be grasped. The tip 301 is pivoted at its center between the
ears 245 in the end 242 of member 240 on opposite sides of slot 244
on a support pin 306 carried between ears 245. The tip 301 is free
to pivot about the axis TA of pin 305 within slot 244.
The initial positioner unit 302 serves to initially position tip
301 in a known pivotal position with respect to member 240 as will
become more apparent. While different mechanisms may be used, the
unit 302 illustrated includes a compression coil spring 310 and a
plunger 311. An appropriate hole 246 is provided in the end 242 of
member 240 at the bottom of slot 244 to slidably receive the spring
310 and plunger 311 therein. The hole 246 is located so that the
spring 310 resiliently urges the tip 301 in a predetermined
rotational direction, here shown as counterclockwise by the plunger
311 bearing against the tip 301. The rotational direction in which
tip 301 is urged can easily be reversed simply by shifting the
positioner unit 302 to the opposite side of the slot 244 as shown
by dashed lines in FIG. 10.
FINGER DRIVE MECHANISM
While separate drive mechanisms may be used for each finger
assembly 212, a simplified common drive mechanism is illustrated.
Mechanism 314 includes a drive rod 250 slidably journalled in base
plate 222 for sliding movement along the centerline CL of base 211.
The operating end 251 of rod 250 projects into space 252 between
plates 221 and 222 and its other end is connected to a drive unit
254 such as the piston 255 of a double acting fluid cylinder 256
shown in FIG. 6. A power adapter 258 is attached to the operating
end 251 of rod 240 in space 252 so that adapter 258 can be
reciprocated in space 252 along the centerline CL. Adapter 258
includes a pair of spaced apart, generally circular, parallel
carriage plates 259 joined at their central portions by a boss 260
so that an annular arm mounting recess 261 is defined between
plates 259.
Outwardly extending power arms 265.sub.a -265.sub.c of finger drive
linkages 263 are mounted within the annular recess 261 in alignment
with support arms 230. Each power arm 265 has a generally
horizontal leg 266 and an upwardly and outwardly extending
bifurcated leg 268. Each leg 266 is slidably received between
carriage plates 259 and is rotatably mounted on a pivot pin 269
extending between plates 259 about the positioning axes PA. The leg
266 of positioning arm 265.sub.a is held in a fixed position in
alignment with support arm 230.sub.a by a second pin 270 extending
through let 266 between carriage plates 259 as seen in FIGS. 6 and
7. Thus, it will be seen that power arms 265.sub.b and 265.sub.c
can pivot about axes PA while arm 265.sub.a is held in a fixed
position.
Drive links 271 connect each power arm 265 with the driving leg 241
of the finger 234 associated therewith so that fingers 234 will be
driven open or closed as the power adapter 258 is moved within
space 252 by drive unit 254. Each link 271 has its outer end 272
pinned between the ends of bifurcated leg 268 of arm 265 while its
bifurcated inner end 274 has the driving leg 241 of finger 234
pinned therebetween. Thus, as the power adapter 258 is moved toward
the palmar plate 221 of base 211, the tips 301 on fingers 234 will
be closed and vice versa.
It will further be noted that the mechanical advantage of the drive
input to fingers 234 decreases as the fingers close. This is
advantageous since the larger objects to be grasped by fingers 234
normally weigh more than smaller objects thereby requiring a
greater holding force. Thus, a variation in holding force is
provided without a change in the fluid pressure of cylinder 256. It
will also be noted that the finger drive linkages 263 are slider
crank mechanisms where the slider axis is parallel to the curling
plane of the particular finger assembly 212 with which it is
associated. This causes the movement of the linkage 263 to be
coplanar with the curling plane of its associated finger assembly
212.
POSITIONING MECHANISM
Referring to FIG. 7, it will be seen that finger assemblies
212.sub.b and 212.sub.c can be moved from a three-jaw prehensile
mode shown in dashed lines to a wrap prehensile mode shown in solid
lines. It will be noted that the spread prehensile mode can be
achieved in either position and that the tip prehensile mode is
provided in the three-jaw prehensile mode. The positioning
mechanism 215 is effective to position the assemblies 212.sub.b and
212.sub.c in their different modal positions.
The positioning mechanism 215 includes a pair of drive
subassemblies 280 carried by the power arm 265.sub.a, one of the
subassemblies 280 is operatively connected to the power arm
265.sub.b and one of the subassemblies 280 is operatively connected
to power arm 265.sub.c. The subassemblies 280 are mirror images of
each other so that only one subassembly will be described in detail
while like reference numbers will be applied to the other assembly
280.
Subassembly 280 attached to power arm 265.sub.b includes a fluid
cylinder 281 carried by a bracket 282 mounted on the side of the
horizontal leg 266 of power arm 265.sub.a. The cylinder 281 is
positioned so that its centerline CL.sub.C is generally parallel to
the centerline of leg 266 of arm 265.sub.a and generally parallel
to the working surface 225 of palmar plate 221 and displaced
laterally of leg 266 of arm 265.sub.a a distance d.sub.1.
The piston rod 285 of cylinder 280 has its projecting end connected
to the leg 266 of power arm 265.sub.b through a connector 286. One
end of connector 286 is pinned to the projecting end of piston rod
285 and its other end is pinned to the leg 266 of arm 265.sub.b in
a slot 288 formed in the side of leg 266 by a drive pin 289. Pin
289 is located from the positioning axis PA of arm 265.sub.b a
distance d.sub.2. Thus, as the piston rod 285 is extended, the
positioning arm 265.sub.b and finger assembly 212.sub.b will be
pivoted toward their wrap modal position and toward their three-jaw
modal position. The distance d.sub.1 and d.sub.2 are sufficient to
insure a sufficient turning moment on arm 265.sub.b and assembly
212.sub.b to position them.
The fluid cylinders 280 illustrated are single action cylinders
with a spring return, however, it is to be understood that double
acting cylinders may be used. The cylinders 280 may be
independently controlled or plumbed in parallel so that they
operate sychronously.
OPERATION OF SECOND EMBODIMENT
The operation of the second embodiment of the invention will be
best understood by reference to FIGS. 11-18 showing the various
modes of operation. It will first of all be noted that the finger
assemblies 212 can be selectively rotated to their three-jaw or
wrap mode positions by a positioning mechanism 215. The opening and
closing of the fingers 234 is effected by the drive unit 254 with
the fingers 234 being simultaneously opened and closed.
FIGS. 11-14 illustrate the mechanism 210 picking up a generally
rectilinear object O.sub.R. In this operation, the piston rods 285
of cylinders 281 are extended to position finger assemblies
212.sub.b and 212.sub.c so that the wrap mode is accomplished. It
will be seen in FIG. 11 that the fingers 234 have closed
sufficiently for the innermost contact points 305 to just engage
opposed edges of the object O.sub.R. An enlarged portion of FIG. 11
showing the position of the tips 301 in this position is seen in
FIG. 12. It will further be noted that as the fingers 234 are
closed, the object O.sub.R will be centered therebetween. The
object O.sub.R is illustrated as initially adjacent the working
surface 225 of the palmar plate 221. As the fingers 234 continue to
move inwardly to grip the object O.sub.R, it will be seen that a
reaction force F.sub.R will be exerted on that point 305 in contact
with the object O.sub.R which causes a moment to be exerted on the
tip 301 in opposition to the positioner unit 302 to pivot the tip
301 clockwise as seen in FIG. 12. This in turn causes a holding
force F.sub.H to be generated on the object O.sub.R that forces the
object toward the palmar plate 221. This insures that the object
O.sub.R is clamped against the plate 221. This clamping force is
generated as the tip 301 rotates clockwise until the other contact
point 305 at the inner end of the tip 301 contacts the side of the
object O.sub.R. This position is shown in FIG. 13 and an enlarged
portion of FIG. 13 is seen in FIG. 14 showing both of the inner
contact points 305 engaging the object O.sub.R. The mechanism 210
has now gripped object O.sub.R sufficiently to allow the object to
be picked up.
FIGS. 15 and 16 illustrate the mechanism 210 gripping a spherical
object O.sub.S between the tips 301. It will be noted that the
fingers 234 center the object O.sub.S with respect to the base 211
and the tips 301 center the object O.sub.S with respect to the
tips. Thus, it will be seen that the tips 301 allow the mechanism
210 to grip relatively small objects. The finger assemblies
212.sub.b and 212.sub.c are in their three-jaw modal position in
FIGS. 15 and 16.
FIGS. 17 and 18 illustrate the mechanism 210 gripping a large
object O.sub.L having an appropriate hole H.sub.L therein
sufficient for the fingers 234 to be inserted into the hole
H.sub.L. The finger assemblies 212.sub.b and 212.sub.c are
illustrated in their three-jaw position so that the fingers 234 can
be extended into the hole H.sub.L and opened beyond their normal
open position into their spread position to grip the object O.sub.L
within the hole H.sub.L.
The inside and outside edges E.sub.I and E.sub.O of each of members
240 of fingers 234 can be used to grip objects as illustrated in
FIG. 1. The finger assemblies 212.sub.b and 212.sub.c are in their
wrap prehensile mode and are gripping a cylindrical object as shown
by dashed lines in FIG. 1.
The finger drive cylinder 256 is connected to an appropriate source
fluid under pressure (not shown) so that the rod 250 can be
selectively extended and retracted. The positioning cylinders 281
are also connected to an appropriate source of fluid under pressure
(not shown) through appropriate valving (not shown) so that the
rods 285 can be selectively extended and retracted. The cylinders
281 may be connected in parallel for simultaneous operation only or
may be connected so that they operate independently of each other.
The cylinders 281 operate independently of cylinder 256.
While specific embodiments of the invention have been disclosed
herein, it is to be understood that the full use of modifications,
substitutions and equivalents may be made without departing from
the scope of the inventive concept.
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