Multiple prehension manipulator

Claim 2

A multiple prehension manipulator mechanism comprising: a plurality of finger means; finger drive means for selectively opening and closing said finger means to grasp; and, positioning drive means for selectively positioning said finger means so that at least two of said finger means are aligned along a common path in direct opposition to each other at a first position, and are parallel to each other and laterally spaced from each other in a second position.

Claim 3

The mechanism of claim 1 wherein said positioning drive means further positions said at least two finger means so that said finger means are directed toward a common point displaced laterally from the common path in a third position.

Claim 4

The mechanism of claim 2 wherein said positioning drive means includes a single motor.

Claim 5

The mechanism of claim 3 wherein each of said finger means includes a finger bendable in a single curling plane about a revolute axis substantially normal to said curling plane and rotatable about a positioning axis substantially parallel to said curling plane.

Claim 6

The mechanism of claim 4 wherein each of said fingers has a normal substantially straight open position in which said finger lies along a prescribed substantially straight path in said curling plane substantially parallel to said positioning axis.

Claim 7

The mechanism of claim 5 wherein there are three finger means and further including a palmar member rotatably mounting each of said finger means for rotation about said positioning axes, said palmar member defining a planar working surface and said finger means located so that said fingers project over said surface from spaced points and said positioning axes are substantially parallel.

Claim 8

The mechanism of claim 6 wherein said finger means are positioned so that said positioning axis of each of said finger means lies in said curling plane of said finger in substantial alignment with said prescribed straight path of said finger is said open position.

Claim 9

The mechanism of claim 7 wherein said positioning means further includes a four-bar linkage mechanism operatively connecting said motor with said other of said finger means so that other finger means is substantially parallel to and in opposition to said at least two finger means in said second position, and is directed toward said common point in said third position.

Claim 10

The mechanism of claim 8 wherein said four-bar linkage mechanism includes a drive gear having a first prescribed pitch diameter d1 operatively connected to said motor for selected rotation by said motor; a first driven gear having a second prescribed pitch diameter d2 operatively connected to one of said at least two finger means for rotating said finger means about its positioning axis and drivingly meshing with said drive gear; a four-bar gear rotatably mounted in said base having a third pitch diameter d5; a second driven gear having a fourth pitch diameter d6 operatively connected to said other finger means for rotating said other finger means about its positioning axis and drivingly meshing with said four-bar gear; and a four-bar link pinned to said drive gear a prescribed distance r1 from its center of rotation and pinned to said four-bar gear a prescribed distance r2 from its center of rotation and having a prescribed length L according to the following relationships: d1/d2 1.25 d5 3 d6 r2 d5/2 r1 > d1/2 r1 r2 cos 60* L > or = ( ( Alpha 1/2 + Alpha 5/2 + t)2 - (r2 cos 60)2) 1/2 where t outside diameter of said driven gear - d1.