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 Title: |
US5052736:
Modular dexterous hand
[ Derwent Title ]
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| Country: |
US United States of America
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| Inventor: |
Loncaric, Josip; Columbia, MD
de Comarmond, Fabrice; Silver Spring, MD
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| Assignee: |
The University of Maryland, College Park, MD
other patents from UNIVERSITY OF MARYLAND (599690) (approx. 282)
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| Published / Filed: |
1991-10-01
/ 1990-02-02
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| Application Number: |
US1990000474165
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| IPC Code: |
Advanced:
B25J 15/10;
B25J 17/02;
Core:
more...
IPC-7:
B25J 15/00;
B25J 15/10;
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| U.S. Class: |
Current:
294/106;
623/057;
901/038;
901/039;
901/045;
Original:
294/106;
623/057;
901/038;
901/039;
901/045;
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| Field of Search: |
294/86.4,106
901/031,32,36,38,39,45,49
623/057,63,64,65
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| Priority Number: |
| 1990-02-02 |
US1990000474165 |
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| Abstract: |
A modular dexterous grasping hand comprises three rotatable fingers mounted on the mounting plate of a Stewart platform for rotation about parallel axes extending perpendicular to the mounting plate. The fingers have a generally L shape so that the grasping elements at the distal ends of the fingers are spaced from the rotational axes. The grasping elements can thus be positioned along the arcs of circles centered on the rotational axes, and so form grasping triangles of variable shapes and sizes. The fingers are independently driven by motors mounted to the mounting plate. Positional encoders and pressure sensors may be included in the motor drive control system.
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| Attorney, Agent or Firm: |
Oblon, Spivak, McClelland, Maier & Neustadt ;
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| Primary / Asst. Examiners: |
Focarino, Margaret A.; Pike, Andrew C.
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| Maintenance Status: |
E2 Expired Check current status
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| INPADOC Legal Status: |
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| Family: |
None
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First Claim:
Show all 12 claims |
What is claimed as new and desired to be secured by Letters Patent of the United States is:
1. A dexterous hand capable of grasping a randomly shaped object, said dexterous hand comprising:
- a base;
- at least three grasping fingers mounted to said base for rotation about substantially parallel axes, said axes extending substantially perpendicular to said base, each of the fingers comprising a base end intersecting a respective one of said axes and comprising a distal end, each said distal end having a grasping element and being spaced from said respective axis in a direction perpendicular to said respective axis, whereby each of said distal ends describes a circle centered on the respective axis upon rotation of said fingers, wherein each of said fingers comprises a rigid rod or tube having said base end extending substantially transverse to said respective axis and having said distal end extending substantially parallel to said respective axis; and
- means mounted to said base for independently rotating each of said fingers,
- whereby said fingers can grasp the randomly shaped object by rotating said fingers in an arc within a plane substantially parallel to said base.
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| Background / Summary: |
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| Drawing Descriptions: |
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| Description: |
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| Forward References: |
Show 12 U.S. patent(s) that reference this one
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