JPH0151316B2 - - Google Patents

Info

Publication number
JPH0151316B2
JPH0151316B2 JP58082835A JP8283583A JPH0151316B2 JP H0151316 B2 JPH0151316 B2 JP H0151316B2 JP 58082835 A JP58082835 A JP 58082835A JP 8283583 A JP8283583 A JP 8283583A JP H0151316 B2 JPH0151316 B2 JP H0151316B2
Authority
JP
Japan
Prior art keywords
finger
fingers
beams
gripping
actuator
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
JP58082835A
Other languages
English (en)
Japanese (ja)
Other versions
JPS5937090A (ja
Inventor
Ansonii Panishidei Hyuugo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
International Business Machines Corp
Original Assignee
International Business Machines Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by International Business Machines Corp filed Critical International Business Machines Corp
Publication of JPS5937090A publication Critical patent/JPS5937090A/ja
Publication of JPH0151316B2 publication Critical patent/JPH0151316B2/ja
Granted legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B25J15/0266—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/081—Touching devices, e.g. pressure-sensitive
    • B25J13/082—Grasping-force detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0241—One-dimensional joints
    • B25J17/025—One-dimensional joints mounted in series
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S294/00—Handling: hand and hoist-line implements
    • Y10S294/907—Sensor controlled device

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)
JP58082835A 1982-08-24 1983-05-13 把持制御装置 Granted JPS5937090A (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US06/411,113 US4456293A (en) 1982-08-24 1982-08-24 Article gripping apparatus
US411113 1982-08-24

Publications (2)

Publication Number Publication Date
JPS5937090A JPS5937090A (ja) 1984-02-29
JPH0151316B2 true JPH0151316B2 (en, 2012) 1989-11-02

Family

ID=23627615

Family Applications (1)

Application Number Title Priority Date Filing Date
JP58082835A Granted JPS5937090A (ja) 1982-08-24 1983-05-13 把持制御装置

Country Status (2)

Country Link
US (1) US4456293A (en, 2012)
JP (1) JPS5937090A (en, 2012)

Families Citing this family (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1161054B (it) * 1983-02-08 1987-03-11 Giordano Arrigoni Perfezionamenti ai complessi (assemblies) di alimentazione e dosaggio variabile e selettivo di colori variamente pigmentati e/o miscelati, per la preparazione di coloranti in genere, e relativi complessi di alimentazione e dosaggio perfezionati
DE3306857A1 (de) * 1983-02-26 1984-08-30 BMD Badische Maschinenfabrik Durlach GmbH, 7500 Karlsruhe Foerdereinrichtung fuer gussstuecke in gussputzanlagen
US4544193A (en) * 1983-04-06 1985-10-01 Dunn Jimmy L Robot grippers
US4595333A (en) * 1983-08-29 1986-06-17 Kabushiki Kaisha Komatsu Seisakusho Hand apparatus of a robot
JPS61149334A (ja) * 1984-12-25 1986-07-08 Fanuc Ltd 射出成形機用金型自動交換機
JPH047914Y2 (en, 2012) * 1985-04-26 1992-02-28
IT1200642B (it) * 1985-06-12 1989-01-27 Honeywell Inf Systems Pinza pneumatica autoprogrammante
US4819978A (en) * 1986-06-27 1989-04-11 California Institute Of Technology Grasp force sensor for robotic hands
EP0268942A3 (de) * 1986-11-28 1988-11-30 Siemens Aktiengesellschaft Greifer zum Handhaben von Teilen
US4697839A (en) * 1986-11-28 1987-10-06 General Motors Corporation Flexible part-centering pneumatic gripper
US4863204A (en) * 1988-04-06 1989-09-05 Peters Gerald L Article handling tool
DE3831361C2 (de) * 1988-09-15 1997-02-06 Erfurt Umformtechnik Gmbh Vorrichtung zum Ausbringen eines Formteils von hydraulischen Pressen
US5018937A (en) * 1988-10-05 1991-05-28 Grumman Aerospace Corporation Shearclip-handling tool
US5152569A (en) * 1991-07-22 1992-10-06 Thomas Guiboche Litter picking tool
CA2116990C (en) * 1994-03-04 1999-12-28 Frank Schauer Robotic gripper mechanism
DE4411319C1 (de) * 1994-03-28 1995-06-01 Ipea Inst Fuer Prozesadaptive Parallelgreifer mit Spindelantrieb
US6056341A (en) * 1998-01-16 2000-05-02 Diamond Automations, Inc. Apparatus for releasing items within a confined space
US5934049A (en) 1998-01-27 1999-08-10 Cerf; Alain Automated film wrapping apparatus
US6150488A (en) * 1998-12-30 2000-11-21 Wacker Silicones Corporation Process for preparing silanol-functional specifically branched organopolysiloxanes and products produced thereby
KR100303530B1 (ko) 1999-02-02 2001-09-13 윤종용 이송로봇용 핸드장치
JP3293802B2 (ja) * 1999-07-07 2002-06-17 エスエムシー株式会社 位置検出機能付きチャック
US6607227B1 (en) * 2000-06-28 2003-08-19 Siemens Automotive Corporation Sawtooth terminal blade gripper and method of gripping
US7464630B2 (en) * 2001-08-27 2008-12-16 Flow International Corporation Apparatus for generating and manipulating a high-pressure fluid jet
US7537427B2 (en) * 2002-12-04 2009-05-26 Tygard Machine & Manufacturing Company Clamping apparatus
DE502005006059D1 (de) * 2005-04-21 2009-01-08 Disa Ind Ag Schleuderstrahlanlage zum Strahlen von Werkstücken aus Leichtmetalllegierungen
US20080073922A1 (en) * 2006-09-27 2008-03-27 Oceaneering International, Inc. Double Sided Rack Manipulator Jaw Actuator System
US7500401B2 (en) * 2007-04-17 2009-03-10 Illinois Tools Works Inc. Swivel jaw face for tensile and similar testing
DE102007022122B4 (de) * 2007-05-11 2019-07-11 Deutsches Zentrum für Luft- und Raumfahrt e.V. Greifvorrichtung für eine Chirurgie-Roboter-Anordnung
FR2917660B1 (fr) * 2007-06-25 2009-09-25 Commissariat Energie Atomique Pince pour robot manipulateur a precision de serrage amelioree et robot manipulateur comportant au moins une telle pince.
US7887108B1 (en) 2007-08-16 2011-02-15 Sage Automation, Inc. Adjustable tine clamp systems and methods
US8176808B2 (en) * 2007-09-13 2012-05-15 Foster-Miller, Inc. Robot arm assembly
US20090314609A1 (en) * 2008-06-18 2009-12-24 Krakosh Iii Frank Item-conveying device
US8414043B2 (en) * 2008-10-21 2013-04-09 Foster-Miller, Inc. End effector for mobile remotely controlled robot
GB2465007A (en) * 2008-11-04 2010-05-12 Nigel Alexander Buchanan Pipe flaring apparatus
US8322249B2 (en) * 2008-12-18 2012-12-04 Foster-Miller, Inc. Robot arm assembly
US8141924B2 (en) * 2008-12-29 2012-03-27 Foster-Miller, Inc. Gripper system
JP2011131341A (ja) * 2009-12-25 2011-07-07 Sony Corp 把持装置
CA2807293C (en) 2010-08-06 2017-11-14 American Grease Stick Company Hand held flaring tool
CN102528812A (zh) * 2011-09-30 2012-07-04 杨晓伟 一种水平推进式机械手
US9075031B2 (en) * 2011-10-11 2015-07-07 Ortho-Clinical Diagnostics, Inc. Apparatus for gripping and holding diagnostic cassettes
JP5892173B2 (ja) * 2011-11-09 2016-03-23 株式会社安川電機 ロボットハンド及びロボット
US8919844B1 (en) * 2012-05-18 2014-12-30 Norgren Automation Solutions, Llc Gripper with actuator mounted displacement sensor
CA2963177A1 (en) * 2013-09-30 2015-04-02 Motocut Oy Cutting device and a method for treating a pile
CN105722619A (zh) 2013-10-30 2016-06-29 美国润滑棒公司 手持扩口工具
CN104526710B (zh) * 2014-12-11 2023-07-21 新疆汇鑫源电力器材有限公司 联动式管件夹持装置
DE102016010190B4 (de) * 2015-08-25 2023-08-24 Saadat Mohsen Greifmechanismus mit großem Hub
US9708135B2 (en) * 2015-10-02 2017-07-18 University Of Macau Compliant gripper with integrated position and grasping/interaction force sensing for microassembly
US11078062B2 (en) 2017-07-19 2021-08-03 Cascade Corpoation Bidirectionally extensible side-shifting layer-picking load clamp assembly
EP4481351A3 (en) * 2017-11-14 2025-03-05 Intuitive Surgical Operations, Inc. Split bridge circuit force sensor
CN108673545B (zh) * 2018-06-25 2023-09-05 唐山学院 一种棉花采样机械手
JP7113695B2 (ja) * 2018-08-02 2022-08-05 アズビル株式会社 ロボットハンド
US10933535B2 (en) * 2018-08-22 2021-03-02 Flexiv Ltd. Robot and gripper with synthetic fibrillar adhesive
CN114930139B (zh) 2019-09-17 2024-06-04 直观外科手术操作公司 应变量规的对称修整
EP4058767A1 (en) 2019-11-15 2022-09-21 Intuitive Surgical Operations, Inc. Spread bridge xy force sensor
US11856892B2 (en) * 2020-11-10 2024-01-02 Theodore H. CORRIHER Self-aligning hay bale unroller
US20250144819A1 (en) * 2022-01-27 2025-05-08 Vo Gia LOC A robotic gripper, a robot arm and a robot comprising the same
CN115213928A (zh) * 2022-02-22 2022-10-21 江苏天东智特科技有限公司 一种具有平行四边形机构的多指新型机械爪
GB2625044B (en) * 2022-08-26 2025-03-19 Ocado Innovation Ltd End-of-arm tool assembly for a robotic manipulator

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3154339A (en) * 1962-09-14 1964-10-27 Louis G Kaplan Articulated lifter with substantially constant jaw gripping factor
US3904234A (en) * 1973-10-15 1975-09-09 Stanford Research Inst Manipulator with electromechanical transducer means
US3948093A (en) * 1975-06-30 1976-04-06 International Business Machines Corporation Six degree of freedom force transducer for a manipulator system
JPS5269152A (en) * 1975-12-08 1977-06-08 Hitachi Ltd Clamping device
SU568542A1 (ru) * 1976-04-16 1977-08-15 Московское Ордена Ленина И Ордена Трудового Красного Знамени Высшее Техническое Училище Им. Н.Э.Баумана Захват
US4132318A (en) * 1976-12-30 1979-01-02 International Business Machines Corporation Asymmetric six-degree-of-freedom force-transducer system for a computer-controlled manipulator system
SU642151A1 (ru) * 1977-09-23 1979-01-15 Предприятие П/Я М-5671 Захват манипул тора
SU667396A1 (ru) * 1977-12-27 1979-06-15 Предприятие П/Я М-5671 Захват
SU709357A1 (ru) * 1978-08-18 1980-01-15 Предприятие П/Я А-7631 Захват очуствленного манипул тора
SU812571A1 (ru) * 1979-06-25 1981-03-15 Ленинградский Политехническийинститут Им.M.И.Калинина Грузозахватное устройство
SU841962A1 (ru) * 1979-08-06 1981-06-30 Институт Технической Кибернетики Анбелорусской Ccp Захват промышленного робота
DE2937061C2 (de) * 1979-09-13 1981-11-12 Pfaff Industriemaschinen Gmbh, 6750 Kaiserslautern Handhabungsgerät mit einer Greifvorrichtung
JPS59353B2 (ja) * 1980-07-24 1984-01-06 ファナック株式会社 把持装置

Also Published As

Publication number Publication date
US4456293A (en) 1984-06-26
JPS5937090A (ja) 1984-02-29

Similar Documents

Publication Publication Date Title
JPH0151316B2 (en, 2012)
US4575297A (en) Assembly robot
US5062673A (en) Articulated hand
US4653793A (en) Multiple point contact gripper
US7445260B2 (en) Gripping type hand
US7337691B2 (en) Parallel kinematics mechanism with a concentric spherical joint
EP0358752A1 (en) Articulatable structure with adjustable end-point compliance
US6840127B2 (en) Tendon link mechanism with six degrees of freedom
US3637092A (en) Material-handling apparatus
JP4030011B2 (ja) ロボットハンド用掌機構
US20030005786A1 (en) Parallel mechanism
CA2103626A1 (en) Motion scaling tele-operating system with force feedback suitable for microsurgery
JPH10249777A (ja) ロボットアーム駆動装置およびロボットハンド
CA3020920A1 (en) Variable stiffness series elastic actuator
JPS6056893A (ja) 能動追従型関節デバイス
JP2017196681A (ja) 産業用ロボット
US20040013509A1 (en) Parallel kinematics mechanism with a concentric spherical joint
JPH02256489A (ja) 多関節ハンド
JPS63251186A (ja) ロボツト用ハンド
JP4124232B2 (ja) 水平アームを有するロボット
JP3777783B2 (ja) 水平アームを有するロボット
Hashimoto et al. Development of a multi-fingered robot hand with fingertip tactile sensors
EP1513657A1 (en) An industrial robot and a method for manipulation in an industrial robot comprising a parallel kinematic manipulator
JP2023553745A (ja) 高エフェクタ感度を提供し、ロボットの本体との相互作用を可能にする混合力制御法則を有する協働処理ロボット
JPH025557B2 (en, 2012)