Gripper with force sensing means, provided with an articulated structure with a plurality of degrees of freedom and inserted between its contact plate and its support

Abstract

Abstract Translated from French Dispositif de préhension à mesure d'effort à structure articulée possédant plusieurs degrés de liberté intercalée entre la plaque de contact et son support. Il comporte deux doigts déplaçables pour serrer un objet à manipuler. Chaque doigt est constitué par: -un support, -une plaque de contact (18) qui vient au contact de l'object à manipuler, une structure articulée (20), possédant plusieurs degrés de liberté, intercalée entre la plaque de contact (18) et le support -un capteur de mesure de déplacements (32, 42, 48) associé à chacun des degrés de liberté de chaque doigt, ce capteur délivrant une information liée seulement aux mouvements effectués selon ce degré de liberté. Articulated gripping device with articulated structure having several degrees of freedom inserted between the contact plate and its support. It has two movable fingers for gripping an object to be manipulated. Each finger consists of: a support, a contact plate (18) which comes into contact with the object to be manipulated, an articulated structure (20), having several degrees of freedom, interposed between the contact plate (18 ) and the support - a displacement measurement sensor (32, 42, 48) associated with each of the degrees of freedom of each finger, this sensor delivering information related only to the movements carried out according to this degree of freedom.

Inventors

• 👤 Mayez Al Mouhamed
• 👤 Etienne Csakvary
• 👤 Bertrand De Cosnac
• 👤 Jean-Paul Noel

Bibliographic Details