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 Title: |
US4653793:
Multiple point contact gripper
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Guinot, Jean-Claude; Paris, France
Lallemand, Jean-Paul; Poitiers, France
Murguet, Denis; Ruelle, France
Zeghloul, Said; Poitiers, France
Bidaud, Philippe; Poitiers, France
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| Assignee: |
La Calhene Societe Anonyme, Bezons, France
other patents from LA CALHENE SOCIETE ANONYME (326115) (approx. 16)
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| Published / Filed: |
1987-03-31
/ 1984-08-16
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| Application Number: |
US1984000641507
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| IPC Code: |
Advanced:
B25J 13/08;
B25J 15/08;
B25J 15/10;
Core:
more...
IPC-7:
B66C 1/46;
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| U.S. Class: |
Current:
294/086.4;
294/088;
294/106;
294/119.1;
294/902;
294/907;
414/751.1;
901/031;
901/037;
901/039;
Original:
294/086.4;
294/088;
294/106;
294/902;
414/751;
901/031;
901/039;
901/079;
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| Field of Search: |
294/86.4,88,116,902,95,106,97,115
414/618,621,729,730,736,741,744 A,751
901/031,37,39
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| Priority Number: |
| 1983-09-02 |
FR1983000014084 |
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| Abstract: |
A gripper has n pseudospherical contact pads providing a point contact with an object to be gripped. The sum of the degrees of liberty existing between the object and each of the pads taken separately is less than, or preferably equal to, 6(n-1)-1. Moreover, the assembly constituted by the object, the pads, the fingers and the frame is isotatic, which means that the total number of degrees of liberty of this assembly is strictly equal to 6(n-1). Strain gauges placed on the fingers permit determining the tensor of the efforts exerted by the object on the gripper. An orientation of the object gripped can be accomplished by providing the pads with additional degrees of liberty controlled by independent actuators.
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| Primary / Asst. Examiners: |
Marbert, James B.;
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| Maintenance Status: |
E2 Expired Check current status
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| INPADOC Legal Status: |
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Family Legal Status Report
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| Designated Country: |
CH DE FR GB IT LI SE
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| Family: |
Show 7 known family members
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First Claim:
Show all 9 claims |
We claim:
1. A gripper for grasping an object of any tridimensional shape in a stable manner, said gripper having four contact pads mounted on fingers displaceably connected to a frame, said pads having means for pseudopoint contact with the object, three of said pads having no more than four degrees of liberty, and one pad having no more than five degrees of liberty, and at least one connection of one degree of liberty between the fingers and the frame, the sum of the degrees of liberty between the object and each of the pseudopoint contact means of the gripper being no more than equal to 17; and the contact pads, the fingers, the frame, and the object to be gripped constituting an isostatic assembly, such that the sum total of the degrees of liberty of the connections of said assembly is equal to 18.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 29 U.S. patent(s) that reference this one
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