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    • 5. 发明专利
    • DESIGN OF FAULT-TOLERANT DEXTEROUS HAND WITH MULTI-FINGERS
    • CA2958893A1
    • 2018-08-23
    • CA2958893
    • 2017-02-23
    • KUMAR KRISHNA D
    • KUMAR KRISHNA DTANG XIAOTENG
    • B25J15/08B25J9/18B25J15/02
    • This invention provides a flexible and versatile mechanical underactuated gripper named UNG Gripper which uses only a limited number of actuators, and this UNG gripper is fault-tolerant by design. This UNG gripper has five fingers with three-knuckle, a movable palm, and a Hook ramp simulating the function of thumb-index web. Two rotatable fingers can adjust the gripper gesture to guarantee robust grasp for various shapes. For fault-tolerant functionality, two rotatable fingers of the five fingers have functional alternative in the case of partial gripper finger failure. Unlike traditional underactuated grippers, this invention involves two types of mechanisms, one for the hand layer and another for the finger layer. In the hand layer, a specially designed planetary gear train (one-input-six-output) with a single actuator is used to drive six subassemblies (five fingers and a palm). In the finger layer, the underactuated three-knuckle fingers use two series connected four-bar linkage mechanisms. Furthermore, a movable palm is designed to synchronize with the motion of five fingers with its minimal influence on position and attitude of the gripping object compared to the existing design wherein the palm is generally fixed. Also, a hook ramp simulating the function of thumb-index web can provide a reference to the planning of the manipulator on which the gripper is installed. This approach can results in simpler planning similar to how a human being grasps an object. In comparison to existing grippers, the UNG gripper can provide fault-tolerant functionality to work even under failure of one or two fingers, especially during long-term unattended situation in which the subsystem failure cannot be fixed in time. The UNG gripper is an universal gripper, i.e, it can be used to grasp any types (shape and size) of objects.