CA2406921A1 - Actuation system for highly underactuated gripping mechanism - Google Patents

Actuation system for highly underactuated gripping mechanism Download PDF

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Publication number
CA2406921A1
CA2406921A1 CA002406921A CA2406921A CA2406921A1 CA 2406921 A1 CA2406921 A1 CA 2406921A1 CA 002406921 A CA002406921 A CA 002406921A CA 2406921 A CA2406921 A CA 2406921A CA 2406921 A1 CA2406921 A1 CA 2406921A1
Authority
CA
Canada
Prior art keywords
fingers
orientation
actuation system
gripping mechanism
closing
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.)
Granted
Application number
CA002406921A
Other languages
French (fr)
Other versions
CA2406921C (en
Inventor
Thierry Laliberte
Clement Gosselin
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.)
Universite Laval
Original Assignee
Universite Laval
Thierry Laliberte
Clement Gosselin
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 Universite Laval, Thierry Laliberte, Clement Gosselin filed Critical Universite Laval
Publication of CA2406921A1 publication Critical patent/CA2406921A1/en
Application granted granted Critical
Publication of CA2406921C publication Critical patent/CA2406921C/en
Anticipated expiration legal-status Critical
Expired - Lifetime 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
    • B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
    • 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
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points

Abstract

This invention provides an actuation system for a highly underactuated gripping mechanism with ten degrees of freedom, which requires only two actuators, one for actuating the opening and closing of three fingers and the other for the orientation of two rotatable fingers with synchronization. Underactuation between the fingers is provided by a one-input/three-output differential which is associated with an orientation mechanism so that an orientation-fixed finger is deactivated when the two orientatable fingers are rotated to face each other for a pinch grasp.
Each finger is enabled to be self-locked in its closing and opening action when the power is off. In one embodiment of the invention, a planetary gearing system is used for the differential. In another embodiment, a Geneva mechanism is used for the orientation transmission, and a fastening interface using an indexing ring is provided to connect an external driving apparatus.
CA002406921A 2000-05-30 2001-01-24 Actuation system for highly underactuated gripping mechanism Expired - Lifetime CA2406921C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US09/579,493 2000-05-30
US09/579,493 US6505870B1 (en) 2000-05-30 2000-05-30 Actuation system for highly underactuated gripping mechanism
PCT/CA2001/000070 WO2001091979A1 (en) 2000-05-30 2001-01-24 Actuation system for highly underactuated gripping mechanism

Publications (2)

Publication Number Publication Date
CA2406921A1 true CA2406921A1 (en) 2001-12-06
CA2406921C CA2406921C (en) 2009-11-03

Family

ID=24317117

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002406921A Expired - Lifetime CA2406921C (en) 2000-05-30 2001-01-24 Actuation system for highly underactuated gripping mechanism

Country Status (6)

Country Link
US (2) US6505870B1 (en)
EP (2) EP1284843B1 (en)
JP (1) JP2003534930A (en)
AU (1) AU2823701A (en)
CA (1) CA2406921C (en)
WO (1) WO2001091979A1 (en)

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Also Published As

Publication number Publication date
WO2001091979A1 (en) 2001-12-06
CA2406921C (en) 2009-11-03
US20020060465A1 (en) 2002-05-23
JP2003534930A (en) 2003-11-25
US6669257B2 (en) 2003-12-30
EP1284843B1 (en) 2017-11-08
US6505870B1 (en) 2003-01-14
EP1595658A1 (en) 2005-11-16
EP1284843A1 (en) 2003-02-26
AU2823701A (en) 2001-12-11

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