发明授权
- 专利标题: Manipulator device
- 专利标题(中): 机械手装置
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申请号: US14114208申请日: 2012-04-18
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公开(公告)号: US09144908B2公开(公告)日: 2015-09-29
- 发明人: Makoto Saen , Kiyoto Ito , Yoshimitsu Yanagawa , Tomomi Takahashi
- 申请人: Makoto Saen , Kiyoto Ito , Yoshimitsu Yanagawa , Tomomi Takahashi
- 申请人地址: JP Tokyo
- 专利权人: Hitachi, Ltd.
- 当前专利权人: Hitachi, Ltd.
- 当前专利权人地址: JP Tokyo
- 代理机构: Miles & Stockbridge P.C.
- 优先权: JP2011-099781 20110427
- 国际申请: PCT/JP2012/060509 WO 20120418
- 国际公布: WO2012/147595 WO 20121101
- 主分类号: B25J15/00
- IPC分类号: B25J15/00 ; B25J19/00 ; B25J15/08 ; B25J15/02 ; B25J13/08 ; G01L5/22 ; B25J9/16 ; G01L5/00
摘要:
A manipulator device has an arm portion and a hand portion The hand portion includes one or more finger portions that manipulate a target object. Each finger portion includes a slip sensor and multiple contact sensors, with at least one contact sensor at a position proximate to the slip sensor and at least another contact sensor at a position remote from the slip sensor. When the contact sensors at the positions remote from the slip sensor detect contact of the target object and the contact sensors arranged at the positions proximate to the slip sensors do not detect contact, a position of the finger portion is moved by a distance corresponding to the distance between the contact sensors detecting contact of the target object and the contact sensors arranged at the positions proximate to the slip such that a detecting position of the slip sensor is coincident with a position of the target object.
公开/授权文献
- US20140148951A1 MANIPULATOR DEVICE 公开/授权日:2014-05-29